Added startup scripts useful when running USB consoles, made MAVLink aware that /dev/console is a hint for running on USB (magic strings, magic strings)

ROMFS/Makefile

@@ -22,6 +22,8 @@ ROMFS_FSSPEC	:= $(SRCROOT)/scripts/rcS~init.d/rcS \
 		   $(SRCROOT)/scripts/rc.PX4IO~init.d/rc.PX4IO \
 		   $(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \
 		   $(SRCROOT)/scripts/rc.FMU_quad_x~init.d/rc.FMU_quad_x \
+		   $(SRCROOT)/scripts/rc.usb~init.d/rc.usb \
+		   $(SRCROOT)/scripts/rc.hil~init.d/rc.hil \
 		   $(SRCROOT)/mixers/FMU_pass.mix~mixers/FMU_pass.mix \
 		   $(SRCROOT)/mixers/FMU_Q.mix~mixers/FMU_Q.mix \
 		   $(SRCROOT)/mixers/FMU_X5.mix~mixers/FMU_X5.mix \

ROMFS/scripts/rc.hil

@@ -0,0 +1,57 @@
+#!nsh
+#
+# USB HIL start
+#
+
+echo "[HIL] starting.."
+
+uorb start
+
+# Tell MAVLink that this link is "fast"
+mavlink start -b 230400 -d /dev/console
+
+# Create a fake HIL /dev/pwm_output interface
+hil mode_pwm
+
+#
+# Load microSD params
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/parameters
+if [ -f /fs/microsd/parameters ]
+then
+	param load /fs/microsd/parameters
+fi
+
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 1
+
+#
+# Start the commander (depends on orb, mavlink)
+#
+commander start
+
+#
+# Start the sensors (depends on orb, px4io)
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start the attitude estimator (depends on orb)
+#
+kalman_demo start
+ 
+#
+# Load mixer and start controllers (depends on px4io)
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
+control_demo start
+
+echo "[HIL] setup done, running"
+
+# Exit shell to make it available to MAVLink
+exit 

ROMFS/scripts/rc.usb

@@ -0,0 +1,14 @@
+#!nsh
+#
+# USB MAVLink start
+#
+
+echo "[testing] doing production test.."
+
+# Tell MAVLink that this link is "fast"
+mavlink start -b 230400 -d /dev/console
+
+# Exit shell to make it available to MAVLink
+exit 
+
+echo "[testing] testing done"

apps/mavlink/mavlink.c

@@ -442,7 +442,8 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
 	int termios_state;
 	*is_usb = false;
 
-	if (strcmp(uart_name, "/dev/ttyACM0") != OK) {
+	/* make some wild guesses including that USB serial is indicated by either /dev/ttyACM0 or /dev/console */
+	if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/console") != OK) {
 		/* Back up the original uart configuration to restore it after exit */
 		if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
 			fprintf(stderr, "[mavlink] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);