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

@@ -1,52 +1,42 @@
 #!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
-then
-	ms5611 start
-else
-	if ver hwcmp AEROFC_V1
-	then
-		# Aero FC uses separate driver
-	else
-		if ver hwcmp CRAZYFLIE
-		then
-			# Crazyflie uses separate driver
-		else
-			# Configure all I2C buses to 100 KHz as they
-			# are all external or slow
-			fmu i2c 1 100000
-			fmu i2c 2 100000
-		fi
-
-		if ver hwcmp PX4FMU_V4
-		then
-			# We know there are sketchy boards out there
-			# as chinese companies produce Pixracers without
-			# fully understanding the critical parts of the
-			# schematic and BOM, leading to sensor brownouts
-			# on boot. Original Pixracers following the
-			# open hardware design do not require this.
-			fmu sensor_reset 50
-		fi
-
-		# External SPI
-		ms5611 -S start
-
-		# Internal SPI
-		ms5611 -s start
-
-		# Blacksheep telemetry
-		bst start
-	fi
-fi
-
 if ver hwcmp AEROFC_V1
 then
 	# Aero FC uses separate driver
 else
+	if ver hwcmp CRAZYFLIE
+	then
+		# Crazyflie uses separate driver
+	else
+		# Configure all I2C buses to 100 KHz as they
+		# are all external or slow
+		fmu i2c 1 100000
+		fmu i2c 2 100000
+	fi
+
+	if ver hwcmp PX4FMU_V4
+	then
+		# We know there are sketchy boards out there
+		# as chinese companies produce Pixracers without
+		# fully understanding the critical parts of the
+		# schematic and BOM, leading to sensor brownouts
+		# on boot. Original Pixracers following the
+		# open hardware design do not require this.
+		fmu sensor_reset 50
+	fi
+
+	# External SPI
+	ms5611 -S start
+
+	# Internal SPI
+	ms5611 -s start
+
+	# Blacksheep telemetry
+	bst start
+
 	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
@@ -687,69 +654,65 @@ then
 	#
 	# MAVLink onboard / TELEM2
 	#
-	if ver hwcmp PX4FMU_V1
+	# XXX We need a better way for runtime eval of shell variables,
+	# but this works for now
+	if param compare SYS_COMPANION 10
 	then
-	else
+		frsky_telemetry start -d ${MAVLINK_COMPANION_DEVICE}
-		# XXX We need a better way for runtime eval of shell variables,
+	fi
-		# but this works for now
+	if param compare SYS_COMPANION 20
-		if param compare SYS_COMPANION 10
+	then
-		then
+		syslink start
-			frsky_telemetry start -d ${MAVLINK_COMPANION_DEVICE}
+		mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
-		fi
+	fi
-		if param compare SYS_COMPANION 20
+	if param compare SYS_COMPANION 921600
-		then
+	then
-			syslink start
+		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
-			mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
+	fi
-		fi
+	if param compare SYS_COMPANION 57600
-		if param compare SYS_COMPANION 921600
+	then
-		then
+		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m onboard -r 5000 -x -f
-			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
+	fi
-		fi
+	if param compare SYS_COMPANION 460800
-		if param compare SYS_COMPANION 57600
+	then
-		then
+		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 460800 -m onboard -r 5000 -x -f
-			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m onboard -r 5000 -x -f
+	fi
-		fi
+	if param compare SYS_COMPANION 157600
-		if param compare SYS_COMPANION 460800
+	then
-		then
+		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m osd -r 1000
-			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 460800 -m onboard -r 5000 -x -f
+	fi
-		fi
+	if param compare SYS_COMPANION 257600
-		if param compare SYS_COMPANION 157600
+	then
-		then
+		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m magic -r 5000 -x -f
-			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m osd -r 1000
+	fi
-		fi
+	if param compare SYS_COMPANION 319200
-		if param compare SYS_COMPANION 257600
+	then
-		then
+		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -r 1000
-			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m magic -r 5000 -x -f
+	fi
-		fi
+	if param compare SYS_COMPANION 338400
-		if param compare SYS_COMPANION 319200
+	then
-		then
+		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -r 1000
-			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -r 1000
+	fi
-		fi
+	if param compare SYS_COMPANION 357600
-		if param compare SYS_COMPANION 338400
+	then
-		then
+		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -r 1000
-			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -r 1000
+	fi
-		fi
+	if param compare SYS_COMPANION 3115200
-		if param compare SYS_COMPANION 357600
+	then
-		then
+		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -r 1000
-			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -r 1000
+	fi
-		fi
+	if param compare SYS_COMPANION 419200
-		if param compare SYS_COMPANION 3115200
+	then
-		then
+		iridiumsbd start -d /dev/ttyS2
-			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -r 1000
+		mavlink start -d /dev/iridium -b 19200 -m iridium -r 10
-		fi
+	fi
-		if param compare SYS_COMPANION 419200
+	if param compare SYS_COMPANION 1921600
-		then
+	then
-			iridiumsbd start -d /dev/ttyS2
+		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -r 20000
-			mavlink start -d /dev/iridium -b 19200 -m iridium -r 10
+	fi
-		fi
+	if param compare SYS_COMPANION 1500000
-		if param compare SYS_COMPANION 1921600
+	then
-		then
+		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 10000 -x -f
-			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -r 20000
-		fi
-		if param compare SYS_COMPANION 1500000
-		then
-			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 10000 -x -f
-		fi
 	fi
 
 	unset MAVLINK_COMPANION_DEVICE
@@ -811,53 +774,46 @@ then
 	#
 	# Logging
 	#
-	if ver hwcmp PX4FMU_V1
+	if param compare SYS_LOGGER 0
 	then
-		if sdlog2 start -r 30 -a -b 2 -t
+		# check if we should increase logging rate for ekf2 replay message logging
+		if param greater EKF2_REC_RPL 0
 		then
-		fi
+			if sdlog2 start -r 500 -e -b 18 -t
-	else
-		if param compare SYS_LOGGER 0
-		then
-			# check if we should increase logging rate for ekf2 replay message logging
-			if param greater EKF2_REC_RPL 0
 			then
-				if sdlog2 start -r 500 -e -b 18 -t
-				then
-				fi
-			else
-				if sdlog2 start -r 100 -a -b 9 -t
-				then
-				fi
 			fi
 		else
-			set LOGGER_ARGS ""
+			if sdlog2 start -r 100 -a -b 9 -t
-			#
-			# Adjust FMUv5 logging settings
-			#
-			if ver hwcmp PX4FMU_V5
-			then
-				set LOGGER_BUF 64
-				param set SDLOG_MODE 2
-			fi
-			if param compare SDLOG_MODE 1
-			then
-				set LOGGER_ARGS "-e"
-			fi
-			if param compare SDLOG_MODE 2
-			then
-				set LOGGER_ARGS "-f"
-			fi
-			if ver hwcmp AEROFC_V1
-			then
-				set LOGGER_ARGS "-m mavlink"
-			fi
-			if logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
 			then
 			fi
-			unset LOGGER_BUF
-			unset LOGGER_ARGS
 		fi
+	else
+		set LOGGER_ARGS ""
+		#
+		# Adjust FMUv5 logging settings
+		#
+		if ver hwcmp PX4FMU_V5
+		then
+			set LOGGER_BUF 64
+			param set SDLOG_MODE 2
+		fi
+		if param compare SDLOG_MODE 1
+		then
+			set LOGGER_ARGS "-e"
+		fi
+		if param compare SDLOG_MODE 2
+		then
+			set LOGGER_ARGS "-f"
+		fi
+		if ver hwcmp AEROFC_V1
+		then
+			set LOGGER_ARGS "-m mavlink"
+		fi
+		if logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
+		then
+		fi
+		unset LOGGER_BUF
+		unset LOGGER_ARGS
 	fi
 
 	#

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