ROMFS:Removed FMUv1 from rcS etal

ROMFS/px4fmu_common/init.d/rc.interface

@@ -121,10 +121,6 @@ then
 fi
 
 # This is a FMUv2+ thing
-if ver hwcmp PX4FMU_V1
-then
-	set MIXER_AUX none
-fi
 
 #MindPX has not aux mixer
 if ver hwcmp MINDPX_V2

ROMFS/px4fmu_common/init.d/rc.io

@@ -11,10 +11,6 @@ px4io recovery
 # Adjust PX4IO update rate limit
 #
 set PX4IO_LIMIT 400
-if ver hwcmp PX4FMU_V1
-then
-	set PX4IO_LIMIT 200
-fi
 
 if px4io limit ${PX4IO_LIMIT}
 then

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -1,16 +1,12 @@
 #!nsh
 #
-# Standard startup script for PX4FMU v1, v2, v3, v4 onboard sensor drivers.
+# Standard startup script for PX4FMU v2, v3, v4 onboard sensor drivers.
 #
 
-if ver hwcmp PX4FMU_V1
+if ver hwcmp AEROFC_V1
 then
-	ms5611 start
-else
-	if ver hwcmp AEROFC_V1
-	then
 	# Aero FC uses separate driver
-	else
+else
 	if ver hwcmp CRAZYFLIE
 	then
 		# Crazyflie uses separate driver
@@ -40,13 +36,7 @@ else
 
 	# Blacksheep telemetry
 	bst start
-	fi
-fi
 
-if ver hwcmp AEROFC_V1
-then
-	# Aero FC uses separate driver
-else
 	adc start
 fi
 
@@ -184,28 +174,6 @@ then
 	bmp280 -I start
 fi
 
-if ver hwcmp PX4FMU_V1
-then
-	# FMUv1
-	mpu6000 start
-	l3gd20 start
-
-	# MAG selection
-	if param compare SENS_EXT_MAG 2
-	then
-		hmc5883 -C -I start
-	else
-		# Use only external as primary
-		if param compare SENS_EXT_MAG 1
-		then
-			hmc5883 -C -X start
-		else
-		# auto-detect the primary, prefer external
-			hmc5883 start
-		fi
-	fi
-fi
-
 if ver hwcmp MINDPX_V2
 then
 	# External I2C bus

ROMFS/px4fmu_common/init.d/rcS

@@ -13,7 +13,7 @@ set +e
 #
 # NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
 #
-# UART mapping on FMUv1/2/3/4:
+# UART mapping on FMUv2/3/4:
 #
 # UART1			/dev/ttyS0		IO debug
 # USART2		/dev/ttyS1		TELEM1 (flow control)
@@ -418,11 +418,6 @@ then
 		# Need IO for output but it not present, disable output
 		set OUTPUT_MODE none
 
-		# Avoid using ttyS0 for MAVLink on FMUv1
-		if ver hwcmp PX4FMU_V1
-		then
-			set FMU_MODE serial
-		fi
 	fi
 
 	if [ $OUTPUT_MODE == ardrone ]
@@ -438,10 +433,6 @@ then
 	if [ $HIL == yes ]
 	then
 		set OUTPUT_MODE hil
-		if ver hwcmp PX4FMU_V1
-		then
-			set FMU_MODE serial
-		fi
 	else
 		gps start
 	fi
@@ -559,18 +550,6 @@ then
 				echo "FMU start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
-
-			if ver hwcmp PX4FMU_V1
-			then
-				if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
-				then
-					set TTYS1_BUSY yes
-				fi
-				if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ]
-				then
-					set TTYS1_BUSY yes
-				fi
-			fi
 		fi
 
 		if [ $OUTPUT_MODE == mkblctrl ]
@@ -628,18 +607,6 @@ then
 					echo "FMU mode_${FMU_MODE} start failed" >> $LOG_FILE
 					tone_alarm $TUNE_ERR
 				fi
-
-				if ver hwcmp PX4FMU_V1
-				then
-					if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
-					then
-						set TTYS1_BUSY yes
-					fi
-					if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ]
-					then
-						set TTYS1_BUSY yes
-					fi
-				fi
 			fi
 		fi
 	fi
@@ -687,9 +654,6 @@ then
 	#
 	# MAVLink onboard / TELEM2
 	#
-	if ver hwcmp PX4FMU_V1
-	then
-	else
 	# XXX We need a better way for runtime eval of shell variables,
 	# but this works for now
 	if param compare SYS_COMPANION 10
@@ -750,7 +714,6 @@ then
 	then
 		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 10000 -x -f
 	fi
-	fi
 
 	unset MAVLINK_COMPANION_DEVICE
 
@@ -811,12 +774,6 @@ then
 	#
 	# Logging
 	#
-	if ver hwcmp PX4FMU_V1
-	then
-		if sdlog2 start -r 30 -a -b 2 -t
-		then
-		fi
-	else
 	if param compare SYS_LOGGER 0
 	then
 		# check if we should increase logging rate for ekf2 replay message logging
@@ -858,7 +815,6 @@ then
 		unset LOGGER_BUF
 		unset LOGGER_ARGS
 	fi
-	fi
 
 	#
 	# Start up ARDrone Motor interface

ROMFS/px4fmu_test/init.d/rc.sensors

@@ -1,27 +1,20 @@
 #!nsh
 #
-# Standard startup script for PX4FMU v1, v2, v3, v4 onboard sensor drivers.
+# Standard startup script for PX4FMU v2, v3, v4 onboard sensor drivers.
 #
 
-if ver hwcmp PX4FMU_V1
+# Configure all I2C buses to 100 KHz as they
+# are all external or slow
+fmu i2c 1 100000
+fmu i2c 2 100000
+
+if ms5611 -s start
 then
-	if ms5611 start
+fi
-	then
-	fi
-else
-	# Configure all I2C buses to 100 KHz as they
-	# are all external or slow
-	fmu i2c 1 100000
-	fmu i2c 2 100000
 
-	if ms5611 -s start
+# Blacksheep telemetry
-	then
+if bst start
-	fi
+then
-
-	# Blacksheep telemetry
-	if bst start
-	then
-	fi
 fi
 
 if adc start
@@ -116,39 +109,6 @@ then
 	fi
 fi
 
-if ver hwcmp PX4FMU_V1
-then
-	# FMUv1
-	if mpu6000 start
-	then
-	fi
-
-	if l3gd20 start
-	then
-	fi
-
-	# MAG selection
-	if param compare SENS_EXT_MAG 2
-	then
-		if hmc5883 -C -I start
-		then
-		fi
-	else
-		# Use only external as primary
-		if param compare SENS_EXT_MAG 1
-		then
-			if hmc5883 -C -X start
-			then
-			fi
-		else
-		# auto-detect the primary, prefer external
-			if hmc5883 start
-			then
-			fi
-		fi
-	fi
-fi
-
 if ver hwcmp MINDPX_V2
 then
 	# External I2C bus