Cleaned up startup, should be completely compatible, but allows clean QGC indices

ROMFS/px4fmu_common/init.d/#!nsh

@@ -0,0 +1,4 @@
+#!nsh
+#
+# Script to set PWM min / max limits and mixer
+#

ROMFS/px4fmu_common/init.d/10015_tbs_discovery

@@ -32,8 +32,6 @@ fi
 #
 param set MAV_TYPE 2
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -74,8 +72,3 @@ pwm max -c 1234 -p 1900
 # Start common for all multirotors apps
 #
 sh /etc/init.d/rc.multirotor
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi

ROMFS/px4fmu_common/init.d/10016_3dr_iris

@@ -32,8 +32,6 @@ fi
 #
 param set MAV_TYPE 2
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -73,8 +71,3 @@ pwm min -c 1234 -p 1050
 # Start common for all multirotors apps
 #
 sh /etc/init.d/rc.multirotor
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi

ROMFS/px4fmu_common/init.d/2100_mpx_easystar

@@ -42,8 +42,6 @@ fi
 #
 param set MAV_TYPE 1
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -80,8 +78,3 @@ fi
 # Start common fixedwing apps
 #
 sh /etc/init.d/rc.fixedwing
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi

ROMFS/px4fmu_common/init.d/2101_hk_bixler

@@ -42,8 +42,6 @@ fi
 #
 param set MAV_TYPE 1
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -80,8 +78,3 @@ fi
 # Start common fixedwing apps
 #
 sh /etc/init.d/rc.fixedwing
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi

ROMFS/px4fmu_common/init.d/2102_3dr_skywalker

@@ -42,8 +42,6 @@ fi
 #
 param set MAV_TYPE 1
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -82,8 +80,3 @@ fi
 # Start common fixedwing apps
 #
 sh /etc/init.d/rc.fixedwing
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi

ROMFS/px4fmu_common/init.d/3030_io_camflyer

@@ -20,8 +20,6 @@ fi
 #
 param set MAV_TYPE 1
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -58,8 +56,3 @@ fi
 # Start common fixedwing apps
 #
 sh /etc/init.d/rc.fixedwing
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi

ROMFS/px4fmu_common/init.d/3031_io_phantom

@@ -47,8 +47,6 @@ fi
 #
 param set MAV_TYPE 1
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -85,8 +83,3 @@ fi
 # Start common fixedwing apps
 #
 sh /etc/init.d/rc.fixedwing
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi

ROMFS/px4fmu_common/init.d/3032_skywalker_x5

@@ -20,8 +20,6 @@ fi
 #
 param set MAV_TYPE 1
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -58,8 +56,3 @@ fi
 # Start common fixedwing apps
 #
 sh /etc/init.d/rc.fixedwing
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi

ROMFS/px4fmu_common/init.d/3033_io_wingwing

@@ -46,8 +46,6 @@ fi
 #
 param set MAV_TYPE 1
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -84,8 +82,3 @@ fi
 # Start common fixedwing apps
 #
 sh /etc/init.d/rc.fixedwing
-
-if [ $EXIT_ON_END == yes ]
-then
-   exit
-fi

ROMFS/px4fmu_common/init.d/3034_io_fx79

@@ -46,8 +46,6 @@ fi
 #
 param set MAV_TYPE 1
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -84,8 +82,3 @@ fi
 # Start common fixedwing apps
 #
 sh /etc/init.d/rc.fixedwing
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi

ROMFS/px4fmu_common/init.d/4010_dji_f330

@@ -41,14 +41,6 @@ then
 
 	param save
 fi
- 
-#
-# Force some key parameters to sane values
-# MAV_TYPE     2 = quadrotor
-#
-param set MAV_TYPE 2
-
-set EXIT_ON_END no
 
 #
 # Start and configure PX4IO or FMU interface
@@ -69,29 +61,9 @@ else
 	set EXIT_ON_END yes
 fi
 
-#
+sh /etc/init.d/rc.mc_interface
-# Load mixer
-#
-mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
-
-#
-# Set PWM output frequency
-#
-pwm rate -c 1234 -r 400
-
-#
-# Set disarmed, min and max PWM signals (for DJI ESCs)
-#
-pwm disarmed -c 1234 -p 900
-pwm min -c 1234 -p 1200
-pwm max -c 1234 -p 1800
 
 #
 # Start common for all multirotors apps
 #
 sh /etc/init.d/rc.multirotor
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi

ROMFS/px4fmu_common/init.d/4011_dji_f450

@@ -32,8 +32,6 @@ fi
 #
 param set MAV_TYPE 2
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -76,8 +74,3 @@ pwm max -c 1234 -p 1800
 # Start common multirotor apps
 #
 sh /etc/init.d/rc.multirotor
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi

ROMFS/px4fmu_common/init.d/666_fmu_q_x550

@@ -34,8 +34,6 @@ fi
 #
 param set MAV_TYPE 2
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -76,8 +74,3 @@ pwm max -c 1234 -p 1900
 # Start common for all multirotors apps
 #
 sh /etc/init.d/rc.multirotor
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi

ROMFS/px4fmu_common/init.d/800_sdlogger

@@ -13,8 +13,6 @@ then
 	param save
 fi
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -53,8 +51,3 @@ then
 		sdlog2 start -r 200 -e -b 16
 	fi
 fi
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi

ROMFS/px4fmu_common/init.d/rcS

@@ -194,64 +194,83 @@ then
 			tone_alarm MNGGG
 		fi
 	fi
+
+	set EXIT_ON_END no
 	
 	#
 	# Check if auto-setup from one of the standard scripts is wanted
 	# SYS_AUTOSTART = 0 means no autostart (default)
 	#
+	# AUTOSTART PARTITION:
+	#  0   	..	 999		Reserved (historical)
+	#  1000	..	 1999		Simulation setups
+	#  2000	..	 2999		Standard planes
+	#  3000	..	 3999		Flying wing
+	#  4000	..	 4999		Quad X
+	#  5000	..	 5999		Quad +
+	#  6000	..	 6999		Hexa X
+	#  7000	..	 7999		Hexa +
+	#  8000	..	 8999		Octo X
+	#  9000	..	 9999		Octo +
+	# 10000	..	19999		Wide arm / H frame
 	
-	if param compare SYS_AUTOSTART 8
+	if param compare SYS_AUTOSTART 4008 8
 	then
-		sh /etc/init.d/08_ardrone
+		sh /etc/init.d/4008_ardrone
 		set MODE custom
 	fi
 	
-	if param compare SYS_AUTOSTART 9
+	if param compare SYS_AUTOSTART 4009 9
 	then
-		sh /etc/init.d/09_ardrone_flow
+		sh /etc/init.d/4009_ardrone_flow
 		set MODE custom
 	fi
 	
-	if param compare SYS_AUTOSTART 10
+	if param compare SYS_AUTOSTART 4010 10
 	then
-		sh /etc/init.d/10_dji_f330
+		set FRAME_GEOMETRY x
+		set FRAME_COUNT 4
+		set PWM_MIN 1200
+		set PWM_MAX 1900
+		set PWM_DISARMED 900
+		sh /etc/init.d/4010_dji_f330
 		set MODE custom
 	fi
 
-	if param compare SYS_AUTOSTART 11
+	if param compare SYS_AUTOSTART 4011 11
 	then
-		sh /etc/init.d/11_dji_f450
+		sh /etc/init.d/4011_dji_f450
 		set MODE custom
 	fi
 
-	if param compare SYS_AUTOSTART 12
+	if param compare SYS_AUTOSTART 6012 12
 	then
 		set MIXER /etc/mixers/FMU_hex_x.mix
 		sh /etc/init.d/12-13_hex
 		set MODE custom
 	fi
 
-	if param compare SYS_AUTOSTART 13
+	if param compare SYS_AUTOSTART 6013 13
 	then
 		set MIXER /etc/mixers/FMU_hex_+.mix
 		sh /etc/init.d/12-13_hex
 		set MODE custom
 	fi
 	
-	if param compare SYS_AUTOSTART 15
+	if param compare SYS_AUTOSTART 10015 15
 	then
-		sh /etc/init.d/15_tbs_discovery
+		sh /etc/init.d/10015_tbs_discovery
 		set MODE custom
 	fi
 
-	if param compare SYS_AUTOSTART 16
+	if param compare SYS_AUTOSTART 10016 16
 	then
-		sh /etc/init.d/16_3dr_iris
+		sh /etc/init.d/10016_3dr_iris
 		set MODE custom
 	fi
 
 	# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame
-	if param compare SYS_AUTOSTART 17
+	if param compare SYS_AUTOSTART 4017 17
 	then
 		set MKBLCTRL_MODE no
 		set MKBLCTRL_FRAME x
@@ -260,7 +279,7 @@ then
 	fi
 
 	# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame
-	if param compare SYS_AUTOSTART 18
+	if param compare SYS_AUTOSTART 5018 18
 	then
 		set MKBLCTRL_MODE no
 		set MKBLCTRL_FRAME +
@@ -269,7 +288,7 @@ then
 	fi
 
 	# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame Mikrokopter-Addressing
-	if param compare SYS_AUTOSTART 19
+	if param compare SYS_AUTOSTART 4019 19
 	then
 		set MKBLCTRL_MODE yes
 		set MKBLCTRL_FRAME x
@@ -278,7 +297,7 @@ then
 	fi
 
 	# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame Mikrokopter-Addressing
-	if param compare SYS_AUTOSTART 20
+	if param compare SYS_AUTOSTART 5020 20
 	then
 		set MKBLCTRL_MODE yes
 		set MKBLCTRL_FRAME +
@@ -287,7 +306,7 @@ then
 	fi
 
 	# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
-	if param compare SYS_AUTOSTART 21
+	if param compare SYS_AUTOSTART 4021 21
 	then
 		set FRAME_GEOMETRY x
 		set ESC_MAKER afro
@@ -296,40 +315,40 @@ then
 	fi
 
 	# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
-	if param compare SYS_AUTOSTART 22
+	if param compare SYS_AUTOSTART 10022 22
 	then
 		set FRAME_GEOMETRY w
 		sh /etc/init.d/rc.custom_io_esc
 		set MODE custom
 	fi
 	
-	if param compare SYS_AUTOSTART 30
+	if param compare SYS_AUTOSTART 3030 30
 	then
-		sh /etc/init.d/30_io_camflyer
+		sh /etc/init.d/3030_io_camflyer
 		set MODE custom
 	fi
 
-	if param compare SYS_AUTOSTART 31
+	if param compare SYS_AUTOSTART 3031 31
 	then
-		sh /etc/init.d/31_io_phantom
+		sh /etc/init.d/3031_io_phantom
 		set MODE custom
 	fi
 	
-	if param compare SYS_AUTOSTART 32
+	if param compare SYS_AUTOSTART 3032 32
 	then
-		sh /etc/init.d/32_skywalker_x5
+		sh /etc/init.d/3032_skywalker_x5
 		set MODE custom
 	fi
 
-	if param compare SYS_AUTOSTART 33
+	if param compare SYS_AUTOSTART 3033 33
 	then
-		sh /etc/init.d/33_io_wingwing
+		sh /etc/init.d/3033_io_wingwing
 		set MODE custom
 	fi
 
-        if param compare SYS_AUTOSTART 34
+        if param compare SYS_AUTOSTART 3034 34
         then
-                sh /etc/init.d/34_io_fx79
+                sh /etc/init.d/3034_io_fx79
                 set MODE custom
         fi
 
@@ -339,21 +358,21 @@ then
 		set MODE custom
 	fi
 	
-	if param compare SYS_AUTOSTART 100
+	if param compare SYS_AUTOSTART 2100 100
 	then
-		sh /etc/init.d/100_mpx_easystar
+		sh /etc/init.d/2100_mpx_easystar
 		set MODE custom
 	fi
 
-	if param compare SYS_AUTOSTART 101
+	if param compare SYS_AUTOSTART 2101 101
 	then
-		sh /etc/init.d/101_hk_bixler
+		sh /etc/init.d/2101_hk_bixler
 		set MODE custom
 	fi
 
-	if param compare SYS_AUTOSTART 102
+	if param compare SYS_AUTOSTART 2102 102
 	then
-		sh /etc/init.d/102_3dr_skywalker
+		sh /etc/init.d/2102_3dr_skywalker
 		set MODE custom
 	fi
 	
@@ -402,5 +421,10 @@ then
 	
 	fi
 
+	if [ $EXIT_ON_END == yes ]
+	then
+		exit
+	fi
+
 # End of autostart
 fi