ROMFS split rc.board into defaults, sensors, and extras

ROMFS/CMakeLists.txt

@@ -126,19 +126,32 @@ if(config_bl_file)
 		)
 endif()
 
-if(EXISTS "${PX4_BOARD_DIR}/init/rc.board")
-	add_custom_command(OUTPUT ${romfs_gen_root_dir}/init.d/rc.board
-		COMMAND ${CMAKE_COMMAND} -E copy ${PX4_BOARD_DIR}/init/rc.board ${romfs_gen_root_dir}/init.d/rc.board
-		DEPENDS
-			${PX4_BOARD_DIR}/init/rc.board
-			${romfs_gen_root_dir}/init.d/rcS
-		COMMENT "ROMFS: copying rc.board"
+set(OPTIONAL_BOARD_RC)
+list(APPEND OPTIONAL_BOARD_RC
+	rc.board_defaults
+	rc.board_sensors
+	rc.board_extras
+)
+
+foreach(board_rc_file ${OPTIONAL_BOARD_RC})
+
+	if(EXISTS "${PX4_BOARD_DIR}/init/${board_rc_file}")
+		message(STATUS "ROMFS: Adding ${board_rc_file}")
+
+		add_custom_command(OUTPUT ${romfs_gen_root_dir}/init.d/${board_rc_file}
+			COMMAND ${CMAKE_COMMAND} -E copy ${PX4_BOARD_DIR}/init/${board_rc_file} ${romfs_gen_root_dir}/init.d/${board_rc_file}
+			DEPENDS
+				${PX4_BOARD_DIR}/init/${board_rc_file}
+				${romfs_gen_root_dir}/init.d/rcS
+			COMMENT "ROMFS: copying ${board_rc_file}"
 		)
 
-	list(APPEND extras_dependencies
-		${romfs_gen_root_dir}/init.d/rc.board
-		)
-endif()
+		list(APPEND extras_dependencies
+			${romfs_gen_root_dir}/init.d/${board_rc_file}
+			)
+	endif()
+
+endforeach()
 
 add_custom_command(OUTPUT romfs_extras.stamp
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/extras/

ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie

@@ -70,8 +70,6 @@ then
 
 	param set SENS_FLOW_MINRNG 0.05
 
-	param set SYS_FMU_TASK 1
-
 fi
 
 set PWM_DISARMED none

ROMFS/px4fmu_common/init.d/rcS

@@ -21,15 +21,15 @@ set +e
 # it wastes flash
 #
 set AUX_MODE pwm
-set BOARD_RC /etc/init.d/rc.board
 set DATAMAN_OPT ""
 set FAILSAFE none
 set FAILSAFE_AUX none
 set FCONFIG /fs/microsd/etc/config.txt
 set FEXTRAS /fs/microsd/etc/extras.txt
-set FRC /fs/microsd/etc/rc.txt
 set FMU_ARGS ""
 set FMU_MODE pwm
+set FRC /fs/microsd/etc/rc.txt
+set IO_PRESENT no
 set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
 set LOG_FILE /fs/microsd/bootlog.txt
@@ -134,22 +134,6 @@ if [ -f $FRC ]
 then
 	sh $FRC
 else
-	#
-	# Waypoint storage.
-	# REBOOTWORK this needs to start in parallel.
-	#
-	# TODO: fix board override $DATAMAN_OPT
-	dataman start $DATAMAN_OPT
-
-	#
-	# Start the socket communication send_event handler.
-	#
-	send_event start
-
-	#
-	# Start the resource load monitor.
-	#
-	load_mon start
 
 	#
 	# Set the parameter file if mtd starts successfully.
@@ -169,67 +153,69 @@ else
 	fi
 
 	#
-	# Start the tone_alarm driver.
-	# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
-	# Note that this will still play the already published startup tone.
-	#
-	tone_alarm start
-
-	#
-	# Start system state indicator.
+	# Optional board defaults: rc.board_defaults
 	#
-	if ! rgbled start
+	set BOARD_RC_DEFAULTS /etc/init.d/rc.board_defaults
+	if [ -f $BOARD_RC_DEFAULTS ]
 	then
-		if blinkm start
-		then
-			blinkm systemstate
-		fi
+		echo "Board defaults: ${BOARD_RC_DEFAULTS}"
+		sh $BOARD_RC_DEFAULTS
 	fi
-
-	rgbled_ncp5623c start
-
-	#
-	# FMUv5 may have both PWM I2C RGB LED support.
-	#
-	rgbled_pwm start
+	unset BOARD_RC_DEFAULTS
 
 	#
 	# Set AUTOCNF flag to use it in AUTOSTART scripts.
 	#
 	if param compare SYS_AUTOCONFIG 1
 	then
-		# Wipe out params except RC*, flight modes and total flight time.
+		# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal
 		param reset_nostart RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO*
 		set AUTOCNF yes
 	else
 		set AUTOCNF no
+	fi
+
+	#
+	# Waypoint storage.
+	# REBOOTWORK this needs to start in parallel.
+	#
+	dataman start $DATAMAN_OPT
+
+	#
+	# Start the socket communication send_event handler.
+	#
+	send_event start
+
+	#
+	# Start the resource load monitor.
+	#
+	load_mon start
+
+	#
+	# Start system state indicator.
+	#
+	if ! rgbled start
+	then
+
+		rgbled_ncp5623c start
 
 		#
-		# Release 1.4.0 transitional support: set to old default if unconfigured,
-		# this preserves the previous behaviour.
+		# FMUv5 may have both PWM I2C RGB LED support.
 		#
-		if param compare BAT_N_CELLS 0
+		rgbled_pwm start
+
+		if blinkm start
 		then
-			param set BAT_N_CELLS 3
+			blinkm systemstate
 		fi
 	fi
 
-	###############################################################################
-	#               Begin setup for board specific configurations.                #
-	###############################################################################
-
 	#
-	# run boards rc.board if available
+	# Start the tone_alarm driver.
+	# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
+	# Note that this will still play the already published startup tone.
 	#
-	if [ -f $BOARD_RC ]
-	then
-		echo "Board init: ${BOARD_RC}"
-		sh $BOARD_RC
-	fi
-
-	###############################################################################
-	#                 End Setup for board specific configurations.                #
-	###############################################################################
+	tone_alarm start
 
 	if param compare SYS_FMU_TASK 1
 	then
@@ -343,9 +329,23 @@ else
 		set OUTPUT_MODE hil
 		sensors start -h
 		commander start --hil
+
 		# disable GPS
 		param set GPS_1_CONFIG 0
+
 	else
+		#
+		# board sensors: rc.sensors
+		#
+		set BOARD_RC_SENSORS /etc/init.d/rc.board_sensors
+		if [ -f $BOARD_RC_SENSORS ]
+		then
+			echo "Board sensors: ${BOARD_RC_SENSORS}"
+			sh $BOARD_RC_SENSORS
+		fi
+		unset BOARD_RC_SENSORS
+
+
 		sh /etc/init.d/rc.sensors
 		commander start
 	fi
@@ -436,11 +436,6 @@ else
 	#
 	sh /etc/init.d/rc.thermal_cal
 
-	#
-	# Start the logger.
-	#
-	sh /etc/init.d/rc.logging
-
 	#
 	# Start vmount to control mounts such as gimbals, disabled by default.
 	#
@@ -450,13 +445,30 @@ else
 	fi
 
 	#
-	# Start any custom addons.
+	# Optional board supplied extras: rc.board_extras
+	#
+	set BOARD_RC_EXTRAS /etc/init.d/rc.board_extras
+	if [ -f $BOARD_RC_EXTRAS ]
+	then
+		echo "Board extras: ${BOARD_RC_EXTRAS}"
+		sh $BOARD_RC_EXTRAS
+	fi
+	unset BOARD_RC_EXTRAS
+
+	#
+	# Start any custom addons from the sdcard.
 	#
 	if [ -f $FEXTRAS ]
 	then
 		echo "Addons script: ${FEXTRAS}"
 		sh $FEXTRAS
 	fi
+
+	#
+	# Start the logger.
+	#
+	sh /etc/init.d/rc.logging
+
 #
 # End of autostart.
 #
@@ -465,17 +477,18 @@ fi
 #
 # Unset all script parameters to free RAM.
 #
+unset AUTOCNF
 unset AUX_MODE
 unset DATAMAN_OPT
 unset FAILSAFE
 unset FAILSAFE_AUX
 unset FCONFIG
 unset FEXTRAS
-unset FRC
 unset FMU_ARGS
 unset FMU_MODE
-unset IOFW
+unset FRC
 unset IO_PRESENT
+unset IOFW
 unset LOG_FILE
 unset LOGGER_ARGS
 unset LOGGER_BUF
@@ -492,16 +505,14 @@ unset PWM_AUX_MAX
 unset PWM_AUX_MIN
 unset PWM_AUX_OUT
 unset PWM_AUX_RATE
-unset PWM_OUT
-unset PWM_RATE
 unset PWM_DISARMED
 unset PWM_MAX
 unset PWM_MIN
+unset PWM_OUT
+unset PWM_RATE
 unset SDCARD_MIXERS_PATH
 unset USE_IO
 unset VEHICLE_TYPE
-unset BOARD_RC
-unset AUTOCNF
 
 #
 # Boot is complete, inform MAVLink app(s) that the system is now fully up and running.

boards/airmind/mindpx-v2/init/rc.board_defaults

@@ -0,0 +1,14 @@
+#!/bin/sh
+#
+# Airmind Mindpx-v2 specific board defaults
+#------------------------------------------------------------------------------
+
+
+if [ $AUTOCNF = yes ]
+then
+	# Disable safety switch by default
+	param set CBRK_IO_SAFETY 22027
+
+fi
+
+set MIXER_AUX none

boards/airmind/mindpx-v2/init/rc.board_sensors

@@ -0,0 +1,15 @@
+#!/bin/sh
+#
+# Airmind Mindpx-v2 specific board sensors init
+#------------------------------------------------------------------------------
+
+# 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