From f266b91cc99507836cd76d38741a81306eaa8896 Mon Sep 17 00:00:00 2001
From: Kabir Mohammed <kabir@uasys.io>
Date: Mon, 6 Feb 2017 17:53:13 +0530
Subject: [PATCH] bebop uploader : kill and restart autostarted PX4 daemon

---
 Tools/adb_upload_to_bebop.sh | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/Tools/adb_upload_to_bebop.sh b/Tools/adb_upload_to_bebop.sh
index d38834079f..3bc6f3a210 100755
--- a/Tools/adb_upload_to_bebop.sh
+++ b/Tools/adb_upload_to_bebop.sh
@@ -34,11 +34,25 @@ adb shell mount -o remount,rw /
 adb shell touch /home/root/parameters
 adb shell mkdir -p /data/ftp/internal_000/fs/microsd
 
+# kill PX4 if it is already running from autostart
+restart_px4=false
+adb_return=$(adb shell killall -KILL px4)
+if [[ $adb_return == "" ]]; then
+    echo "Killed running PX4 process"
+    restart_px4=true
+fi
+
 ${PX4_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf/bin/arm-linux-gnueabihf-strip \
   -R .comment -R .gnu.version \
   ../build_posix_bebop_default/src/firmware/posix/px4
 
 ../Tools/adb_upload.sh $@
 
-echo "Disconnecting from bebop"
+# restart the process after uploading
+if [ "$restart_px4" = true ]; then
+    echo "Restarting PX4 process"
+    adb shell /etc/init.d/rcS_mode_default 2>/dev/null 1>/dev/null &
+fi
+
+echo "Disconnecting from Bebop"
 adb disconnect