From a3fed608a6b47ad0473f2bbfc5893db109a79f1b Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Fri, 30 Nov 2018 14:38:06 -0500
Subject: [PATCH] move airmind_mindpx-v2 init to rc.board

---
 ROMFS/px4fmu_common/init.d/rc.sensors  | 14 --------
 ROMFS/px4fmu_common/init.d/rcS         |  8 -----
 ROMFS/px4fmu_test/init.d/rc.sensors    | 25 -------------
 boards/airmind/mindpx-v2/init/rc.board | 49 ++++++++++++++++++++++++++
 boards/px4/fmu-v4/init/rc.board        |  2 ++
 5 files changed, 51 insertions(+), 47 deletions(-)
 create mode 100644 boards/airmind/mindpx-v2/init/rc.board

diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 4e7e32d08a..29a1db04e6 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -51,20 +51,6 @@ then
 
 fi
 
-if ver hwcmp AIRMIND_MINDPX_V2
-then
-	# External I2C bus
-	hmc5883 -C -T -X start
-
-	# Internal I2C bus
-	hmc5883 -C -T -I -R 12 start
-
-	mpu6000 -s -R 8 start
-	mpu9250 -s -R 8 start
-	lsm303d -R 10 start
-	l3gd20 -R 14 start
-fi
-
 if ver hwcmp ATMEL_SAME70XPLAINED_V1
 then
 	# External I2C bus
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 86c801266d..22a070ac3f 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -461,14 +461,6 @@ else
 		vmount start
 	fi
 
-	#
-	# Launch the flow sensor as a background task.
-	#
-	if ver hwcmp PX4_FMU_V4 AIRMIND_MINDPX_V2
-	then
-		px4flow start &
-	fi
-
 	#
 	# Start any custom addons.
 	#
diff --git a/ROMFS/px4fmu_test/init.d/rc.sensors b/ROMFS/px4fmu_test/init.d/rc.sensors
index faba7263a0..7c6b4e17a6 100644
--- a/ROMFS/px4fmu_test/init.d/rc.sensors
+++ b/ROMFS/px4fmu_test/init.d/rc.sensors
@@ -21,31 +21,6 @@ if adc start
 then
 fi
 
-if ver hwcmp AIRMIND_MINDPX_V2
-then
-	# External I2C bus
-	if hmc5883 -C -T -X start
-	then
-	fi
-
-	# Internal I2C bus
-	if hmc5883 -C -T -I -R 12 start
-	then
-	fi
-
-	if mpu9250 -s -R 8 start
-	then
-	fi
-
-	if lsm303d -R 10 start
-	then
-	fi
-
-	if l3gd20 -R 14 start
-	then
-	fi
-fi
-
 if sdp3x_airspeed start
 then
 fi
diff --git a/boards/airmind/mindpx-v2/init/rc.board b/boards/airmind/mindpx-v2/init/rc.board
new file mode 100644
index 0000000000..fc11c75e68
--- /dev/null
+++ b/boards/airmind/mindpx-v2/init/rc.board
@@ -0,0 +1,49 @@
+#!nsh
+#
+# Airmind Mindpx-v2 specific board init
+#
+#------------------------------------------------------------------------------
+#
+# UART mapping:
+#
+# UART1         /dev/ttyS0      wifi
+# USART2        /dev/ttyS1      TELEM1 (flow control)
+# USART3        /dev/ttyS2      TELEM2 (flow control)
+# UART4
+# UART7                         CONSOLE
+# UART8         /dev/ttyS6      SERIAL4/TELEM4
+#
+#------------------------------------------------------------------------------
+#
+
+# We know there are sketchy boards out there
+# as chinese companies produce Pixracers without
+# fully understanding the critical parts of the
+# schematic and BOM, leading to sensor brownouts
+# on boot. Original Pixracers following the
+# open hardware design do not require this.
+fmu sensor_reset 50
+
+if [ $AUTOCNF = yes ]
+then
+	# Disable safety switch by default
+	param set CBRK_IO_SAFETY 22027
+
+	param set SYS_FMU_TASK 1
+fi
+
+set MIXER_AUX none
+
+
+# External I2C bus
+hmc5883 -C -T -X start
+
+# Internal I2C bus
+hmc5883 -C -T -I -R 12 start
+
+mpu6000 -s -R 8 start
+mpu9250 -s -R 8 start
+lsm303d -R 10 start
+l3gd20 -R 14 start
+
+px4flow start &
diff --git a/boards/px4/fmu-v4/init/rc.board b/boards/px4/fmu-v4/init/rc.board
index f3f394c179..9c35de5a59 100644
--- a/boards/px4/fmu-v4/init/rc.board
+++ b/boards/px4/fmu-v4/init/rc.board
@@ -90,3 +90,5 @@ if param compare TEL_FRSKY_CONFIG 0
 then
 	frsky_telemetry start -d /dev/ttyS6 -t 15
 fi
+
+px4flow start &