From c9a2033c5b9ce5a7056e8fafdbfa9077866a4b79 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Fri, 30 Nov 2018 14:35:48 -0500
Subject: [PATCH] move auav_x21-v1 init to rc.board

---
 ROMFS/px4fmu_common/init.d/rc.sensors | 16 ---------
 boards/auav/x21/init/rc.board         | 41 +++++++++++++++++++++++
 boards/intel/aerofc-v1/init/rc.board  | 47 +++++++++++++++++++++++++++
 boards/px4/fmu-v3/init/rc.board       |  3 +-
 4 files changed, 90 insertions(+), 17 deletions(-)
 create mode 100644 boards/auav/x21/init/rc.board
 create mode 100644 boards/intel/aerofc-v1/init/rc.board

diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 5b87bc5495..4e7e32d08a 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -37,22 +37,6 @@ then
 	lsm303d start
 fi
 
-if ver hwcmp AUAV_X21
-then
-	# External I2C bus
-	hmc5883 -C -T -X start
-	lis3mdl -X start
-
-	# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
-	mpu6000 -R 2 -T 20608 start
-
-	# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
-	mpu6000 -R 2 -T 20602 start
-
-	# Internal SPI bus mpu9250 is rotated 90 deg yaw
-	mpu9250 -R 2 start
-fi
-
 if ver hwcmp BITCRAZE_CRAZYFLIE
 then
 	# Onboard I2C
diff --git a/boards/auav/x21/init/rc.board b/boards/auav/x21/init/rc.board
new file mode 100644
index 0000000000..af6608a5d3
--- /dev/null
+++ b/boards/auav/x21/init/rc.board
@@ -0,0 +1,41 @@
+#!nsh
+#
+# AUAV/mRO x21 specific board init
+#
+#------------------------------------------------------------------------------
+#
+# UART mapping on x21:
+#
+# UART1         /dev/ttyS0      IO debug
+# USART2        /dev/ttyS1      TELEM1 (flow control)
+# USART3        /dev/ttyS2      TELEM2 (flow control)
+# UART4
+# UART7                         CONSOLE
+# UART8         /dev/ttyS6      SERIAL4/TELEM4
+#
+#------------------------------------------------------------------------------
+#
+
+
+if [ $AUTOCNF = yes ]
+then
+
+
+fi
+
+
+# External I2C bus
+hmc5883 -C -T -X start
+lis3mdl -X start
+ist8310 -C start
+
+# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
+mpu6000 -R 2 -T 20608 start
+
+# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
+mpu6000 -R 2 -T 20602 start
+
+# Internal SPI bus mpu9250 is rotated 90 deg yaw
+mpu9250 -R 2 start
+
+px4flow start &
diff --git a/boards/intel/aerofc-v1/init/rc.board b/boards/intel/aerofc-v1/init/rc.board
new file mode 100644
index 0000000000..90d461f34c
--- /dev/null
+++ b/boards/intel/aerofc-v1/init/rc.board
@@ -0,0 +1,47 @@
+#!nsh
+#
+# intel aero specific board init
+#
+#------------------------------------------------------------------------------
+#
+
+if param compare SYS_AUTOSTART 0
+then
+	set AUTOCNF yes
+fi
+
+# We don't allow changing AUTOSTART as it doesn't work in
+# other configurations.
+param set SYS_AUTOSTART 4070
+
+if [ $AUTOCNF = yes ]
+then
+	# Disable safety switch by default
+	param set CBRK_IO_SAFETY 22027
+
+	# use the Q attitude estimator, it works w/o mag or GPS.
+	param set SYS_MC_EST_GROUP 1
+	param set ATT_ACC_COMP 0
+	param set ATT_W_ACC 0.4000
+	param set ATT_W_GYRO_BIAS 0.0000
+
+	param set SYS_HAS_MAG 0
+	param set SYS_FMU_TASK 1
+fi
+
+
+set DATAMAN_OPT -i
+set LOGGER_ARGS "-m mavlink"
+set MIXER_AUX none
+
+
+ms5611 -T 0 start
+mpu9250 -s -R 14 start
+
+# Possible external compasses
+hmc5883 -X start
+
+ist8310 -C -b 1 -R 4 start
+aerofc_adc start
+
+ll40ls start i2c
diff --git a/boards/px4/fmu-v3/init/rc.board b/boards/px4/fmu-v3/init/rc.board
index df722f5477..c93de36508 100644
--- a/boards/px4/fmu-v3/init/rc.board
+++ b/boards/px4/fmu-v3/init/rc.board
@@ -37,7 +37,8 @@ unset BL_FILE
 
 if [ $AUTOCNF = yes ]
 then
-	param set SYS_FMU_TASK 1
+
+
 fi
 
 
-- 
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