ROMFS: avoid empty 'then else' clause, it's an error in bash

Use 'if ! <cmd>' instead.

ROMFS/px4fmu_common/init.d/3000_generic_wing

@@ -10,9 +10,4 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF == yes ]
-then
-
-fi
-
 set MIXER fw_generic_wing

ROMFS/px4fmu_common/init.d/rc.interface

@@ -17,9 +17,8 @@ set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
 # If mount (gimbal) control is enabled and output mode is AUX, set the aux
 # mixer to mount (override the airframe-specific MIXER_AUX setting).
 #
-if param compare MNT_MODE_IN -1
+if ! param compare MNT_MODE_IN -1
 then
-else
         if param compare MNT_MODE_OUT 0
         then
                 set MIXER_AUX mount
@@ -69,9 +68,8 @@ then
 			set MKBLCTRL_ARG "-mkmode +"
 		fi
 
-		if mkblctrl $MKBLCTRL_ARG
+		if ! mkblctrl $MKBLCTRL_ARG
 		then
-		else
 			# Error tune.
 			tune_control play -t 2
 		fi
@@ -79,9 +77,8 @@ then
 
 	if [ $OUTPUT_MODE == hil ]
 	then
-		if pwm_out_sim start
+		if ! pwm_out_sim start
 		then
-		else
 			# Error tune.
 			tune_control play -t 2
 		fi
@@ -89,9 +86,8 @@ then
 
 	if [ $OUTPUT_MODE == fmu ]
 	then
-		if fmu mode_$FMU_MODE $FMU_ARGS
+		if ! fmu mode_$FMU_MODE $FMU_ARGS
 		then
-		else
 			echo "FMU start failed" >> $LOG_FILE
 			# Error tune.
 			tune_control play -t 2

ROMFS/px4fmu_common/init.d/rc.mavlink

@@ -11,10 +11,8 @@
 #               Begin Setup for board specific configurations.                #
 ###############################################################################
 
-if ver hwcmp AEROFC_V1
+if ! ver hwcmp AEROFC_V1
 then
-	# don't start mavlink ttyACM0 on aerofc_v1
-else
 	# Start MAVLink
 	mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
 fi
@@ -74,9 +72,8 @@ then
 	fi
 fi
 
-if [ "x$MAVLINK_F" == xnone ]
+if [ "x$MAVLINK_F" != xnone ]
 then
-else
 	mavlink start ${MAVLINK_F}
 fi
 

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -9,14 +9,10 @@
 #               Begin Setup for board specific configurations.                #
 ###############################################################################
 
-if ver hwcmp AEROFC_V1 OMNIBUS_F4SD
+if ! ver hwcmp AEROFC_V1 OMNIBUS_F4SD
 then
-	# Aero FC uses separate driver
+	if ! ver hwcmp CRAZYFLIE
-else
-	if ver hwcmp CRAZYFLIE
 	then
-		# Crazyflie uses separate driver
-	else
 		# Configure all I2C buses to 100 KHz as they
 		# are all external or slow
 		fmu i2c 1 100000
@@ -209,11 +205,10 @@ then
 		# As we will use the external mag and the ICM-20608-G
 		# V2 build hwtypecmp is always false
 		# V3 build hwtypecmp supports V2|V2M|V30
-		if ver hwtypecmp V2M
+		if ! ver hwtypecmp V2M
 		then
-			# On the PixhawkMini the mpu9250 has been disabled due to HW errata
-		else
 			mpu9250 start
+		# else: On the PixhawkMini the mpu9250 has been disabled due to HW errata
 		fi
 
 		l3gd20 start
@@ -240,14 +235,12 @@ then
 	# expansion i2c used for BMM150 rotated by 90deg
 	bmm150 -R 2 start
 
-	if hmc5883 -C -T -S -R 2 start
+	# hmc5883 internal SPI bus is rotated 90 deg yaw
+	if ! hmc5883 -C -T -S -R 2 start
 	then
-		# hmc5883 internal SPI bus is rotated 90 deg yaw
+		# lis3mdl internal SPI bus is rotated 90 deg yaw
-	else
+		if ! lis3mdl start
-		if lis3mdl start
 		then
-			# lis3mdl internal SPI bus is rotated 90 deg yaw
-		else
 			# BMI055 gyro internal SPI bus
 			bmi055 -G start
 		fi
@@ -257,14 +250,12 @@ then
 	# chip select pin. There are different boards with either one of them and the WHO_AM_I register
 	# will prevent the incorrect driver from a successful initialization.
 
-	if mpu6000 -R 2 -T 20602 start
+	# ICM20602 internal SPI bus ICM-20608-G is rotated 90 deg yaw
+	if ! mpu6000 -R 2 -T 20602 start
 	then
-		# ICM20602 internal SPI bus ICM-20608-G is rotated 90 deg yaw
+		# ICM20608 internal SPI bus ICM-20602-G is rotated 90 deg yaw
-	else
+		if ! mpu6000 -R 2 -T 20608 start
-		if mpu6000 -R 2 -T 20608 start
 		then
-			# ICM20608 internal SPI bus ICM-20602-G is rotated 90 deg yaw
-		else
 			# BMI055 accel internal SPI bus
 			bmi055 -A start
 		fi
@@ -274,10 +265,9 @@ then
 	# chip select pin. There are different boards with either one of them and the WHO_AM_I register
 	# will prevent the incorrect driver from a successful initialization.
 
-	if mpu9250 -R 2 start
+	# mpu9250 internal SPI bus mpu9250 is rotated 90 deg yaw
+	if ! mpu9250 -R 2 start
 	then
-		# mpu9250 internal SPI bus mpu9250 is rotated 90 deg yaw
-	else
 		# BMI160 internal SPI bus
 		bmi160 start
 	fi
@@ -299,9 +289,8 @@ fi
 
 if ver hwcmp OMNIBUS_F4SD
 then
-	if mpu6000 -R 12 -s start
+	if ! mpu6000 -R 12 -s start
 	then
-	else
 		# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
 		mpu6000 -R 12 -T 20602 -s start
 	fi

ROMFS/px4fmu_common/init.d/rcS

@@ -131,10 +131,9 @@ else
 	fi
 fi
 
-if ver hwcmp CRAZYFLIE AEROCORE2
+# AEROCORE2 shouldn't have an sd card and CF2 may optionally have an sd card.
+if ! ver hwcmp CRAZYFLIE AEROCORE2
 then
-	# AEROCORE2 shouldn't have an sd card and CF2 may optionally have an sd card.
-else
 	# Run no SD alarm.
 	if [ $LOG_FILE == /dev/null ]
 	then
@@ -194,20 +193,16 @@ else
 	# Load parameters.
 	#
 	param select $PARAM_FILE
-	if param load
+	if ! param load
 	then
-	else
+		param reset
-		if param reset
-		then
-		fi
 	fi
 
 	#
 	# Start system state indicator.
 	#
-	if rgbled start
+	if ! rgbled start
 	then
-	else
 		if blinkm start
 		then
 			blinkm systemstate
@@ -289,9 +284,8 @@ else
 	#
 	# Set parameters and env variables for selected AUTOSTART.
 	#
-	if param compare SYS_AUTOSTART 0
+	if ! param compare SYS_AUTOSTART 0
 	then
-	else
 		sh /etc/init.d/rc.autostart
 	fi
 
@@ -351,10 +345,8 @@ else
 			if px4io start
 			then
 				# Try to safety px4 io so motor outputs don't go crazy.
-				if px4io safety_on
+				if ! px4io safety_on
 				then
-					# success! no-op
-				else
 					# px4io did not respond to the safety command.
 					px4io stop
 				fi
@@ -507,12 +499,9 @@ else
 	#
 	# Start vmount to control mounts such as gimbals, disabled by default.
 	#
-	if param compare MNT_MODE_IN -1
+	if ! param compare MNT_MODE_IN -1
 	then
-	else
+		vmount start
-		if vmount start
-		then
-		fi
 	fi
 
 	#

ROMFS/tap_common/init.d/rcS

@@ -61,12 +61,9 @@ then
 fi
 
 param select $PARAM_FILE
-if param load
+if !param load
 then
-else
+	param reset
-	if param reset
-	then
-	fi
 fi
 
 tone_alarm start

platforms/nuttx/NuttX/apps

@@ -1 +1 @@
-Subproject commit 36806ba3d84c0fa07ed86857d4c92a997b7cd194
+Subproject commit d19cc40bdca5416a0891798f4b13bfa14f07abeb