Rover: Auto-starting rover apps

ROMFS/px4fmu_common/init.d/50001_rover

@@ -0,0 +1,10 @@
+#!nsh
+#
+# Generic rover
+#
+
+sh /etc/init.d/rc.rover_defaults
+
+set MIXER IO_pass.mix
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/rc.rover_apps

@@ -0,0 +1,9 @@
+#!nsh
+#
+# Standard apps for rovers:
+# att & pos estimator, rover steering control
+#
+
+ekf_att_pos_estimator start
+
+rover_steering_control start

ROMFS/px4fmu_common/init.d/rc.rover_defaults

@@ -0,0 +1,13 @@
+#!nsh
+
+set VEHICLE_TYPE rover
+
+if [ $AUTOCNF == yes ]
+then
+	# param set MC_ROLL_P 7.0
+fi
+
+set PWM_RATE 50
+set PWM_DISARMED 1100
+set PWM_MIN 1100
+set PWM_MAX 1900

ROMFS/px4fmu_common/init.d/rcS

@@ -602,6 +602,24 @@ then
 			sh /etc/init.d/rc.vtol_apps
 		fi
 	fi
+
+	#
+	# Rover setup
+	#
+	if [ $VEHICLE_TYPE == rover ]
+		# 10 is MAV_TYPE_GROUND_ROVER
+		set MAV_TYPE 10
+
+		# Load mixer and configure outputs
+		sh /etc/init.d/rc.interface
+
+		# Start standard rover apps
+		if [ $LOAD_DAPPS == yes ]
+		then
+			sh /etc/init.d/rc.rover_apps
+		fi
+	fi
+
 	unset MIXER
 	unset MAV_TYPE
 	unset OUTPUT_MODE