Simplified USB startup script

ROMFS/px4fmu_common/init.d/rc.usb

@@ -15,29 +15,33 @@ then
 fi
 mavlink start -b 230400 -d /dev/ttyACM0
 
-# Start the commander
+if [ $MODE == autostart ]
-commander start
-
-# Start sensors
-sh /etc/init.d/rc.sensors
-
-# Start one of the estimators
-if attitude_estimator_ekf status
 then
+
+	# Start the commander
+	commander start
+
+	# Start sensors
+	sh /etc/init.d/rc.sensors
+
+	# Start one of the estimators
+	if attitude_estimator_ekf status
+	then
 		echo "multicopter att filter running"
-else
+	else
 		if att_pos_estimator_ekf status
 		then
 			echo "fixedwing att filter running"
 		else
 			attitude_estimator_ekf start
 		fi
-fi
+	fi
 
-# Start GPS
+	# Start GPS
-if gps start
+	if gps start
-then
+	then
 		echo "GPS started"
+	fi
 fi
 
 echo "MAVLink started, exiting shell.."