Merge branch 'master' into beta

ROMFS/px4fmu_logging/init.d/rcS

@@ -1,88 +0,0 @@
-#!nsh
-#
-# PX4FMU startup script for logging purposes
-#
-
-#
-# Try to mount the microSD card.
-#
-echo "[init] looking for microSD..."
-if mount -t vfat /dev/mmcsd0 /fs/microsd
-then
-	echo "[init] card mounted at /fs/microsd"
-	# Start playing the startup tune
-	tone_alarm start
-else
-	echo "[init] no microSD card found"
-	# Play SOS
-	tone_alarm error
-fi
-
-uorb start
-
-#
-# Start sensor drivers here.
-#
-
-ms5611 start
-adc start
-
-# mag might be external
-if hmc5883 start
-then
-	echo "using HMC5883"
-fi
-
-if mpu6000 start
-then
-	echo "using MPU6000"
-fi
-
-if l3gd20 start
-then
-	echo "using L3GD20(H)"
-fi
-
-if lsm303d start
-then
-	set BOARD fmuv2
-else
-	set BOARD fmuv1
-fi
-
-# Start airspeed sensors
-if meas_airspeed start
-then
-	echo "using MEAS airspeed sensor"
-else
-	if ets_airspeed start
-	then
-		echo "using ETS airspeed sensor (bus 3)"
-	else
-		if ets_airspeed start -b 1
-		then
-			echo "Using ETS airspeed sensor (bus 1)"
-		fi
-	fi
-fi
-
-#
-# Start the sensor collection task.
-# IMPORTANT: this also loads param offsets
-# ALWAYS start this task before the
-# preflight_check.
-#
-if sensors start
-then
-	echo "SENSORS STARTED"
-fi
-
-sdlog2 start -r 250 -e -b 16
-
-if sercon
-then
-	echo "[init] USB interface connected"
-
-	# Try to get an USB console
-	nshterm /dev/ttyACM0 &
-fi

src/drivers/mkblctrl/mkblctrl.cpp

@@ -705,7 +705,7 @@ MK::mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C)
 			Motor[i].State |= MOTOR_STATE_PRESENT_MASK; // set present bit;
 			foundMotorCount++;
 
-			if (Motor[i].MaxPWM == 250) {
+			if ((Motor[i].MaxPWM & 252) == 248) {
 				Motor[i].Version = BLCTRL_NEW;
 
 			} else {