Lunchtime HOTFIX: Bring back USB console to operational, allow single-USB connection operation via QGC

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -34,9 +34,10 @@ fi
 # ALWAYS start this task before the
 # preflight_check.
 #
-sensors start
+if sensors start
-
+then
 	#
 	# Check sensors - run AFTER 'sensors start'
 	#
 	preflight_check
+fi

ROMFS/px4fmu_common/init.d/rc.usb

@@ -5,8 +5,33 @@
 
 echo "Starting MAVLink on this USB console"
 
+# Stop tone alarm
+tone_alarm stop
+
 # Tell MAVLink that this link is "fast"
-mavlink start -b 230400 -d /dev/console
+if mavlink stop
+then
+	echo "stopped other MAVLink instance"
+fi
+mavlink start -b 230400 -d /dev/ttyACM0
+
+# Start the commander
+commander start
+
+# Start sensors
+sh /etc/init.d/rc.sensors
+
+# Start one of the estimators
+if attitude_estimator_ekf start
+then
+	echo "estimating attitude"
+fi
+
+# Start GPS
+if gps start
+then
+	echo "GPS started"
+fi
 
 echo "MAVLink started, exiting shell.."
 

src/drivers/boards/px4fmu/px4fmu_init.c

@@ -194,7 +194,7 @@ __EXPORT int nsh_archinitialize(void)
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_AMBER);
-	led_on(LED_BLUE);
+	led_off(LED_BLUE);
 
 
 	/* Configure SPI-based devices */

src/drivers/hmc5883/hmc5883.cpp

@@ -1221,7 +1221,8 @@ start()
 	int fd;
 
 	if (g_dev != nullptr)
-		errx(1, "already started");
+		/* if already started, the still command succeeded */
+		errx(0, "already started");
 
 	/* create the driver, attempt expansion bus first */
 	g_dev = new HMC5883(PX4_I2C_BUS_EXPANSION);

src/drivers/mpu6000/mpu6000.cpp

@@ -1063,7 +1063,8 @@ start()
 	int fd;
 
 	if (g_dev != nullptr)
-		errx(1, "already started");
+		/* if already started, the still command succeeded */
+		errx(0, "already started");
 
 	/* create the driver */
 	g_dev = new MPU6000(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_MPU);

src/drivers/ms5611/ms5611.cpp

@@ -969,7 +969,8 @@ start()
 	int fd;
 
 	if (g_dev != nullptr)
-		errx(1, "already started");
+		/* if already started, the still command succeeded */
+		errx(0, "already started");
 
 	/* create the driver */
 	g_dev = new MS5611(MS5611_BUS);

src/modules/mavlink/mavlink.c

@@ -420,12 +420,12 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
 	case 921600: speed = B921600; break;
 
 	default:
-		fprintf(stderr, "[mavlink] ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
+		warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
 		return -EINVAL;
 	}
 
 	/* open uart */
-	printf("[mavlink] UART is %s, baudrate is %d\n", uart_name, baud);
+	warnx("UART is %s, baudrate is %d\n", uart_name, baud);
 	uart = open(uart_name, O_RDWR | O_NOCTTY);
 
 	/* Try to set baud rate */
@@ -433,11 +433,9 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
 	int termios_state;
 	*is_usb = false;
 
-	/* 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);
+		warnx("ERROR get termios config %s: %d\n", uart_name, termios_state);
 		close(uart);
 		return -1;
 	}
@@ -448,24 +446,24 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
 	/* Clear ONLCR flag (which appends a CR for every LF) */
 	uart_config.c_oflag &= ~ONLCR;
 
+	/* USB serial is indicated by /dev/ttyACM0*/
+	if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) {
+
 		/* Set baud rate */
 		if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
-			fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
+			warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
 			close(uart);
 			return -1;
 		}
 
+	}
 
 	if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
-			fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
+		warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
 		close(uart);
 		return -1;
 	}
 
-	} else {
-		*is_usb = true;
-	}
-
 	return uart;
 }
 
@@ -751,7 +749,6 @@ int mavlink_thread_main(int argc, char *argv[])
 	pthread_join(uorb_receive_thread, NULL);
 
 	/* Reset the UART flags to original state */
-	if (!usb_uart)
 	tcsetattr(uart, TCSANOW, &uart_config_original);
 
 	thread_running = false;