From 7bf2edc3bf9f04d52c6bd9a64d383acbc2071a00 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 18 Jul 2013 14:01:42 +0200
Subject: [PATCH] Script cleanup, WIP on mavlink logging

---
 .../init.d/{rc.1_fmu_quad_x => 01_fmu_quad_x} |  0
 .../{rc.2_fmu_io_quad_x => 02_io_quad_x}      |  0
 .../init.d/{rc.fmu_ardrone => 08_ardrone}     |  0
 .../{rc.fmu_ardrone_flow => 09_ardrone_flow}  |  0
 .../{rc.30_fmu_io_camflyer => 30_io_camflyer} |  0
 .../{rc.31_fmu_io_phantom => 31_io_phantom}   |  0
 ROMFS/px4fmu_common/init.d/rcS                | 63 ++++++++++++-------
 src/modules/mavlink/mavlink_log.c             | 11 ++++
 8 files changed, 50 insertions(+), 24 deletions(-)
 rename ROMFS/px4fmu_common/init.d/{rc.1_fmu_quad_x => 01_fmu_quad_x} (100%)
 rename ROMFS/px4fmu_common/init.d/{rc.2_fmu_io_quad_x => 02_io_quad_x} (100%)
 rename ROMFS/px4fmu_common/init.d/{rc.fmu_ardrone => 08_ardrone} (100%)
 rename ROMFS/px4fmu_common/init.d/{rc.fmu_ardrone_flow => 09_ardrone_flow} (100%)
 rename ROMFS/px4fmu_common/init.d/{rc.30_fmu_io_camflyer => 30_io_camflyer} (100%)
 rename ROMFS/px4fmu_common/init.d/{rc.31_fmu_io_phantom => 31_io_phantom} (100%)

diff --git a/ROMFS/px4fmu_common/init.d/rc.1_fmu_quad_x b/ROMFS/px4fmu_common/init.d/01_fmu_quad_x
similarity index 100%
rename from ROMFS/px4fmu_common/init.d/rc.1_fmu_quad_x
rename to ROMFS/px4fmu_common/init.d/01_fmu_quad_x
diff --git a/ROMFS/px4fmu_common/init.d/rc.2_fmu_io_quad_x b/ROMFS/px4fmu_common/init.d/02_io_quad_x
similarity index 100%
rename from ROMFS/px4fmu_common/init.d/rc.2_fmu_io_quad_x
rename to ROMFS/px4fmu_common/init.d/02_io_quad_x
diff --git a/ROMFS/px4fmu_common/init.d/rc.fmu_ardrone b/ROMFS/px4fmu_common/init.d/08_ardrone
similarity index 100%
rename from ROMFS/px4fmu_common/init.d/rc.fmu_ardrone
rename to ROMFS/px4fmu_common/init.d/08_ardrone
diff --git a/ROMFS/px4fmu_common/init.d/rc.fmu_ardrone_flow b/ROMFS/px4fmu_common/init.d/09_ardrone_flow
similarity index 100%
rename from ROMFS/px4fmu_common/init.d/rc.fmu_ardrone_flow
rename to ROMFS/px4fmu_common/init.d/09_ardrone_flow
diff --git a/ROMFS/px4fmu_common/init.d/rc.30_fmu_io_camflyer b/ROMFS/px4fmu_common/init.d/30_io_camflyer
similarity index 100%
rename from ROMFS/px4fmu_common/init.d/rc.30_fmu_io_camflyer
rename to ROMFS/px4fmu_common/init.d/30_io_camflyer
diff --git a/ROMFS/px4fmu_common/init.d/rc.31_fmu_io_phantom b/ROMFS/px4fmu_common/init.d/31_io_phantom
similarity index 100%
rename from ROMFS/px4fmu_common/init.d/rc.31_fmu_io_phantom
rename to ROMFS/px4fmu_common/init.d/31_io_phantom
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index ee7e840505..b22591f3c3 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -23,30 +23,6 @@ else
 	tone_alarm 2
 fi
 
-#
-# Check if auto-setup from one of the standard scripts is wanted
-# SYS_AUTOSTART = 0 means no autostart (default)
-#
-if param compare SYS_AUTOSTART 1
-then
-	sh /etc/init.d/rc.1_fmu_quad_x
-fi
-
-if param compare SYS_AUTOSTART 2
-then
-	sh /etc/init.d/rc.2_fmu_io_quad_x
-fi
-
-if param compare SYS_AUTOSTART 30
-then
-	sh /etc/init.d/rc.30_fmu_io_camflyer
-fi
-
-if param compare SYS_AUTOSTART 31
-then
-	sh /etc/init.d/rc.31_fmu_io_phantom
-fi
-
 #
 # Look for an init script on the microSD card.
 #
@@ -106,3 +82,42 @@ else
 fi
 
 fi
+
+#
+# Check if auto-setup from one of the standard scripts is wanted
+# SYS_AUTOSTART = 0 means no autostart (default)
+#
+if param compare SYS_AUTOSTART 1
+then
+	sh /etc/init.d/01_fmu_quad_x
+fi
+
+if param compare SYS_AUTOSTART 2
+then
+	sh /etc/init.d/02_io_quad_x
+fi
+
+if param compare SYS_AUTOSTART 8
+then
+	sh /etc/init.d/08_ardrone
+fi
+
+if param compare SYS_AUTOSTART 9
+then
+	sh /etc/init.d/09_ardrone_flow
+fi
+
+if param compare SYS_AUTOSTART 10
+then
+	sh /etc/init.d/10_io_f330
+fi
+
+if param compare SYS_AUTOSTART 30
+then
+	sh /etc/init.d/30_io_camflyer
+fi
+
+if param compare SYS_AUTOSTART 31
+then
+	sh /etc/init.d/31_io_phantom
+fi
diff --git a/src/modules/mavlink/mavlink_log.c b/src/modules/mavlink/mavlink_log.c
index d9416a08b9..1921958568 100644
--- a/src/modules/mavlink/mavlink_log.c
+++ b/src/modules/mavlink/mavlink_log.c
@@ -41,16 +41,20 @@
 
 #include <string.h>
 #include <stdlib.h>
+#include <stdio.h>
 #include <stdarg.h>
 
 #include <mavlink/mavlink_log.h>
 
+static FILE* text_recorder_fd = NULL;
+
 void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size)
 {
 	lb->size  = size;
 	lb->start = 0;
 	lb->count = 0;
 	lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage));
+	text_recorder_fd = fopen("/fs/microsd/text_recorder.txt", "w");
 }
 
 int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb)
@@ -82,6 +86,13 @@ int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessa
 		memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage));
 		lb->start = (lb->start + 1) % lb->size;
 		--lb->count;
+
+		if (text_recorder_fd) {
+			fwrite(elem->text, 1, strnlen(elem->text, 50), text_recorder_fd);
+			fputc("\n", text_recorder_fd);
+			fsync(text_recorder_fd);
+		}
+
 		return 0;
 
 	} else {