Simplify TAP config

ROMFS/tap_common/init.d/rcS

@@ -1,6 +1,6 @@
 #!nsh
 #
-# PX4FMU startup script.
+# TAP startup script.
 #
 #  NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
 #
@@ -10,29 +10,23 @@
 #
 sercon
 
-#
-# Default to auto-start mode.
-#
-set MODE autostart
-
 set TUNE_ERR ML<<CP4CP4CP4CP4CP4
 set LOG_FILE /fs/microsd/bootlog.txt
 
+tone_alarm start
+
 #
 # Try to mount the microSD card.
 #
-# REBOOTWORK this needs to start after the flight control loop
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
-	# Start playing the startup tune
+	echo "microSD present"
-	tone_alarm start
 else
-	tone_alarm MBAGP
 	if mkfatfs /dev/mmcsd0
 	then
 		if mount -t vfat /dev/mmcsd0 /fs/microsd
 		then
-			echo "INFO  [init] MicroSD card formatted"
+			echo "microSD card formatted"
 		else
 			echo "ERROR [init] Format failed"
 			tone_alarm MNBG
@@ -43,22 +37,6 @@ else
 	fi
 fi
 
-#
-# Look for an init script on the microSD card.
-# Disable autostart if the script found.
-#
-set FRC /fs/microsd/etc/rc.txt
-if [ -f $FRC ]
-then
-	echo "INFO  [init] Executing script: $FRC"
-	sh $FRC
-	set MODE custom
-fi
-unset FRC
-
-if [ $MODE == autostart ]
-then
-
 #
 # Start the ORB (first app to start)
 #
@@ -119,17 +97,16 @@ then
 set FAILSAFE none
 set USE_IO no
 
-
 #
 # Set parameters and env variables for selected AUTOSTART
 #
 if param compare SYS_AUTOSTART 0
 then
-		echo "INFO  [init] No autostart"
+	param set SYS_AUTOSTART 6001
-	else
-		sh /etc/init.d/rc.autostart
 fi
-	unset MODE
+
+# Start canned airframe config
+sh /etc/init.d/rc.autostart
 
 #
 # If autoconfig parameter was set, reset it and save parameters
@@ -174,115 +151,18 @@ then
 #
 load_mon start
 
-	#
+# Start MAVLink on the gimbal port
-	# Start primary output
-	#
-	set TTYS1_BUSY no
-
-	#
-	# Check if UAVCAN is enabled, default to it for ESCs
-	#
-	if param greater UAVCAN_ENABLE 2
-	then
-		set OUTPUT_MODE uavcan_esc
-	fi
-
-	# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
-	if [ $OUTPUT_MODE != none ]
-	then
-		if [ $OUTPUT_MODE == uavcan_esc ]
-		then
-			if param compare UAVCAN_ENABLE 0
-			then
-				echo "INFO  [init] OVERRIDING UAVCAN_ENABLE = 1" >> $LOG_FILE
-				param set UAVCAN_ENABLE 1
-			fi
-		fi
-
-		if [ $OUTPUT_MODE == fmu ]
-		then
-			if fmu mode_$FMU_MODE
-			then
-			else
-				echo "ERR  [init] FMU start failed" >> $LOG_FILE
-				tone_alarm $TUNE_ERR
-			fi
-		fi
-
-		if fmu mode_pwm4
-		then
-		else
-			echo "ERROR [init] FMU mode_$FMU_MODE start failed" >> $LOG_FILE
-			tone_alarm $TUNE_ERR
-		fi
-	fi
-
 mavlink start -r 1200 -d /dev/ttyS1
 
-	#
+# Start MAVLink on USB, developers can use the MAVLink shell
-	# Starting stuff according to UAVCAN_ENABLE value
-	#
-	if param greater UAVCAN_ENABLE 0
-	then
-		if uavcan start
-		then
-		else
-			tone_alarm $TUNE_ERR
-		fi
-	fi
-
-	if param greater UAVCAN_ENABLE 1
-	then
-		if uavcan start fw
-		then
-		else
-			tone_alarm $TUNE_ERR
-		fi
-	fi
-
-	#
-	# Optional drivers
-	#
-
-	# Sensors on the PWM interface bank
-	if param compare SENS_EN_LL40LS 1
-	then
-		if pwm_input start
-		then
-			if ll40ls start pwm
-			then
-			fi
-		fi
-	fi
-
-	# sf0x lidar sensor
-	if param compare SENS_EN_SF0X 1
-	then
-		sf0x start
-	fi
-
-	# Start USB shell if no microSD present, MAVLink else
-	if [ $LOG_FILE == /dev/null ]
-	then
-		# Try to get an USB console
-		nshterm /dev/ttyACM0 &
-	else
 mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
-	fi
 
 #
 # Logging
 #
-	if param compare SYS_LOGGER 0
-	then
-		if sdlog2 start -r 100 -a -b 9 -t
-		then
-		fi
-	else
 if logger start -b 12 -t
 then
 fi
-	fi
 
 #
 # Fixed wing setup
@@ -461,26 +341,9 @@ then
 fi
 unset FEXTRAS
 
-	# Run no SD alarm
-	if [ $LOG_FILE == /dev/null ]
-	then
-		# Play SOS
-		tone_alarm error
-	fi
-
-# End of autostart
-fi
-
 # There is no further script processing, so we can free some RAM
 # XXX potentially unset all script variables.
 unset TUNE_ERR
 
 # Boot is complete, inform MAVLink app(s) that the system is now fully up and running
 mavlink boot_complete
-
-if [ $EXIT_ON_END == yes ]
-then
-	echo "INFO  [init] NSH exit"
-	exit
-fi
-unset EXIT_ON_END