move omnibus_f4sd init to rc.board

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -94,22 +94,6 @@ then
 	l3gd20 -R 14 start
 fi
 
-if ver hwcmp OMNIBUS_F4SD
-then
-	if ! mpu6000 -R 12 -s start
-	then
-		# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
-		mpu6000 -R 12 -T 20602 -s start
-	fi
-
-	# Possible external compasses
-	hmc5883 -X start
-
-	bmp280 start
-
-	adc start
-fi
-
 if ver hwcmp ATMEL_SAME70XPLAINED_V1
 then
 	# External I2C bus

ROMFS/px4fmu_common/init.d/rcS

@@ -14,14 +14,6 @@ set +e
 # NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
 #
 #------------------------------------------------------------------------------
-#
-# UART mapping on OMNIBUSF4SD:
-#
-# USART1        /dev/ttyS0      SerialRX
-# (USART3                       configured as I2C)
-# USART4        /dev/ttyS1      TELEM2 (TX=RSSI, RX=PWM out 5)
-# USART6        /dev/ttyS2      URT6
-#
 
 #
 # Set default paramter values.
@@ -290,24 +282,6 @@ else
 	#
 	if [ $AUTOCNF = yes ]
 	then
-
-		# Disable safety switch by default on OmnibusF4SD.
-		if ver hwcmp OMNIBUS_F4SD
-		then
-			param set CBRK_IO_SAFETY 22027
-		fi
-
-		if ver hwcmp OMNIBUS_F4SD
-		then
-			param set SYS_FMU_TASK 1
-			param set SYS_HAS_MAG 0
-			# use the Q attitude estimator, it works w/o mag or GPS.
-			param set SYS_MC_EST_GROUP 1
-			param set ATT_ACC_COMP 0
-			param set ATT_W_ACC 0.4000
-			param set ATT_W_GYRO_BIAS 0.0000
-		fi
-
 		param set SYS_AUTOCONFIG 0
 	fi
 
@@ -502,7 +476,7 @@ else
 	#
 	# Launch the flow sensor as a background task.
 	#
-	if ver hwcmp PX4_FMU_V4 AIRMIND_MINDPX_V2 OMNIBUS_F4SD
+	if ver hwcmp PX4_FMU_V4 AIRMIND_MINDPX_V2
 	then
 		px4flow start &
 	fi

boards/omnibus/f4sd/init/rc.board

@@ -0,0 +1,49 @@
+#!nsh
+#
+# Omnibus F4SD specific board init
+#
+#------------------------------------------------------------------------------
+#
+# UART mapping on OMNIBUSF4SD:
+#
+# USART1        /dev/ttyS0      SerialRX
+# (USART3                       configured as I2C)
+# USART4        /dev/ttyS1      TELEM2 (TX=RSSI, RX=PWM out 5)
+# USART6        /dev/ttyS2      URT6
+#
+#------------------------------------------------------------------------------
+#
+
+if [ $AUTOCNF = yes ]
+then
+	# Disable safety switch by default
+	param set CBRK_IO_SAFETY 22027
+
+	# use the Q attitude estimator, it works w/o mag or GPS.
+	param set SYS_MC_EST_GROUP 1
+	param set ATT_ACC_COMP 0
+	param set ATT_W_ACC 0.4000
+	param set ATT_W_GYRO_BIAS 0.0000
+
+	param set SYS_HAS_MAG 0
+	param set SYS_FMU_TASK 1
+fi
+
+set MIXER_AUX none
+
+
+if ! mpu6000 -R 12 -s start
+then
+	# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
+	mpu6000 -R 12 -T 20602 -s start
+fi
+
+# Possible external compasses
+hmc5883 -X start
+
+bmp280 start
+
+adc start
+
+
+px4flow start &