Merge branch 'main' into feat/windows-sitl-lockstep

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -71,6 +71,7 @@ endif()
 
 if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
 	px4_add_romfs_files(
+		rc.rover
 		rc.rover_differential_apps
 		rc.rover_differential_defaults
 	)
@@ -78,6 +79,7 @@ endif()
 
 if(CONFIG_MODULES_ROVER_ACKERMANN)
 	px4_add_romfs_files(
+		rc.rover
 		rc.rover_ackermann_apps
 		rc.rover_ackermann_defaults
 	)
@@ -92,6 +94,7 @@ endif()
 
 if(CONFIG_MODULES_ROVER_MECANUM)
 	px4_add_romfs_files(
+		rc.rover
 		rc.rover_mecanum_apps
 		rc.rover_mecanum_defaults
 	)

ROMFS/px4fmu_common/init.d/rc.rover

@@ -0,0 +1,10 @@
+#!/bin/sh
+# Standard apps for all rovers.
+
+# Start Land Detector.
+land_detector start rover
+
+if param compare HIWONDER_EMM_EN 1
+then
+	hiwonder_emm start
+fi

ROMFS/px4fmu_common/init.d/rc.rover_ackermann_apps

@@ -1,8 +1,7 @@
 #!/bin/sh
 # Standard apps for an ackermann rover.
 
+. ${R}etc/init.d/rc.rover
+
 # Start rover ackermann module.
 rover_ackermann start
-
-# Start Land Detector.
-land_detector start rover

ROMFS/px4fmu_common/init.d/rc.rover_differential_apps

@@ -1,8 +1,7 @@
 #!/bin/sh
 # Standard apps for a differential rover.
 
+. ${R}etc/init.d/rc.rover
+
 # Start rover differential module.
 rover_differential start
-
-# Start Land Detector.
-land_detector start rover

ROMFS/px4fmu_common/init.d/rc.rover_mecanum_apps

@@ -1,8 +1,7 @@
 #!/bin/sh
 # Standard apps for a mecanum drive rover.
 
+. ${R}etc/init.d/rc.rover
+
 # Start rover mecanum drive controller.
 rover_mecanum start
-
-# Start Land Detector.
-land_detector start rover