hw_ver app added for hardware version checking

ROMFS/px4fmu_common/init.d/1001_rc_quad.hil

@@ -67,8 +67,11 @@ if px4io start
 then
 	echo "IO started"
 else
-	fmu mode_serial
-	echo "FMU started"
+	if hw_ver compare PX4FMU_V1
+	then
+		fmu mode_serial
+		echo "FMU started"
+	fi
 fi
 
 #

ROMFS/px4fmu_common/init.d/800_sdlogger

@@ -42,10 +42,12 @@ position_estimator_inav start
 
 if [ -d /fs/microsd ]
 then
-	if [ $BOARD == fmuv1 ]
+	if hw_ver compare PX4FMU_V1
 	then
+		echo "Start sdlog2 at 50Hz"
 		sdlog2 start -r 50 -e -b 16
 	else
+		echo "Start sdlog2 at 200Hz"
 		sdlog2 start -r 200 -e -b 16
 	fi
 fi

ROMFS/px4fmu_common/init.d/rc.io

@@ -11,7 +11,7 @@ then
 	#
 	# Disable px4io topic limiting
 	#
-	if [ $BOARD == fmuv1 ]
+	if hw_ver compare PX4FMU_V1
 	then
 		px4io limit 200
 	else

ROMFS/px4fmu_common/init.d/rc.logging

@@ -5,10 +5,12 @@
 
 if [ -d /fs/microsd ]
 then
-	if [ $BOARD == fmuv1 ]
+	if hw_ver compare PX4FMU_V1
 	then
+		echo "Start sdlog2 at 50Hz"
 		sdlog2 start -r 50 -a -b 16
 	else
+		echo "Start sdlog2 at 200Hz"
 		sdlog2 start -r 200 -a -b 16
 	fi
 fi

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -28,9 +28,7 @@ fi
 
 if lsm303d start
 then
-	set BOARD fmuv2
-else
-	set BOARD fmuv1
+	echo "using LSM303D"
 fi
 
 # Start airspeed sensors

ROMFS/px4fmu_common/init.d/rcS

@@ -185,9 +185,12 @@ then
 			else
 				echo "PX4IO restart failed"
 				echo "PX4IO restart failed" >> $logfile
-				tone_alarm MNGGG
-				sleep 10
-				reboot
+				if hw_ver compare PX4FMU_V2
+				then
+					tone_alarm MNGGG
+					sleep 10
+					reboot
+				fi
 			fi
 		else
 			echo "PX4IO update failed"