Fixed startup behavior for PX4 autostart

ROMFS/px4fmu_common/init.d/10_io_f330

@@ -75,6 +75,8 @@ px4io min 1200 1200 1200 1200
 # Upper limits could be higher, this is on the safe side
 #
 px4io max 1800 1800 1800 1800
+
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
  
 #
 # Start the sensors (depends on orb, px4io)
@@ -95,17 +97,13 @@ gps start
 # Start the attitude estimator (depends on orb)
 #
 attitude_estimator_ekf start
- 
-#
-# Load mixer and start controllers (depends on px4io)
-#
-mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+
 multirotor_att_control start
  
 #
 # Start logging
 #
-sdlog2 start -r 20 -a -b 16
+sdlog2 start -r 50 -a -b 16
  
 #
 # Start system state

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -36,8 +36,5 @@ fi
 #
 if sensors start
 then
-	#
-	# Check sensors - run AFTER 'sensors start'
-	#
 	preflight_check &
 fi

ROMFS/px4fmu_common/init.d/rc.usb

@@ -16,12 +16,26 @@ fi
 sleep 2
 mavlink start -b 230400 -d /dev/ttyACM0
 
+# Stop commander
+if commander stop
+then
+	echo "Commander stopped"
+fi
+sleep 1
+
 # Start the commander
 if commander start
 then
 	echo "Commander started"
 fi
 
+# Stop px4io
+if px4io stop
+then
+	echo "PX4IO stopped"
+fi
+sleep 1
+
 # Start px4io if present
 if px4io start
 then

src/drivers/l3gd20/l3gd20.cpp

@@ -780,7 +780,7 @@ start()
 	int fd;
 
 	if (g_dev != nullptr)
-		errx(1, "already started");
+		errx(0, "already started");
 
 	/* create the driver */
 	g_dev = new L3GD20(1 /* XXX magic number */, GYRO_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO);

src/drivers/lsm303d/lsm303d.cpp

@@ -1370,7 +1370,7 @@ start()
 	int fd, fd_mag;
 
 	if (g_dev != nullptr)
-		errx(1, "already started");
+		errx(0, "already started");
 
 	/* create the driver */
 	g_dev = new LSM303D(1 /* XXX magic number */, ACCEL_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG);