Use rc.txt, config.txt, extras.txt files, minor boot messages fixes

ROMFS/px4fmu_common/init.d/rc.fw_interface

@@ -1,6 +1,6 @@
 #!nsh
 #
-# Script to load fixedwing mixer and set rate/disarmed/min/max values for PWM output
+# Script to configure fixedwing control interface
 #
 
 #
@@ -12,7 +12,7 @@ param set MAV_TYPE 1
 #
 # Load mixer
 #
-echo "Frame geometry: ${FRAME_GEOMETRY}"
-set MIXER /etc/mixers/FMU_${FRAME_GEOMETRY}.mix
-echo "Loading mixer: ${MIXER}"
-mixer load /dev/pwm_output ${MIXER}
+echo "[init] Frame geometry: $FRAME_GEOMETRY"
+set MIXER /etc/mixers/FMU_$FRAME_GEOMETRY.mix
+echo "[init] Loading mixer: $MIXER"
+mixer load /dev/pwm_output $MIXER

ROMFS/px4fmu_common/init.d/rc.mc_interface

@@ -1,6 +1,6 @@
 #!nsh
 #
-# Script to load multicopter mixer and set rate/disarmed/min/max values for PWM output
+# Script to configure multicopter control interface
 #
 
 if [ $FRAME_GEOMETRY == quad_x -o $FRAME_GEOMETRY == quad_+ ]
@@ -27,9 +27,9 @@ fi
 #
 # Load mixer
 #
-echo "Frame geometry: $FRAME_GEOMETRY"
-set MIXER /etc/mixers/FMU_${FRAME_GEOMETRY}.mix
-echo "Loading mixer: $MIXER"
+echo "[init] Frame geometry: $FRAME_GEOMETRY"
+set MIXER /etc/mixers/FMU_$FRAME_GEOMETRY.mix
+echo "[init] Loading mixer: $MIXER"
 mixer load /dev/pwm_output $MIXER
 
 if [ $OUTPUT_MODE == fmu_pwm -o $OUTPUT_MODE == io_pwm ]
@@ -39,6 +39,7 @@ then
 	#
 	if [ $PWM_RATE != none ]
 	then
+		echo "[init] Set PWM rate: $PWM_RATE"
 		pwm rate -c $OUTPUTS -r $PWM_RATE
 	fi
 	
@@ -47,14 +48,17 @@ then
 	#
 	if [ $PWM_DISARMED != none ]
 	then
+		echo "[init] Set PWM disarmed: $PWM_DISARMED"
 		pwm disarmed -c $OUTPUTS -p $PWM_DISARMED
 	fi
 	if [ $PWM_MIN != none ]
 	then
+		echo "[init] Set PWM min: $PWM_MIN"
 		pwm min -c $OUTPUTS -p $PWM_MIN
 	fi
 	if [ $PWM_MAX != none ]
 	then
+		echo "[init] Set PWM max: $PWM_MAX"
 		pwm max -c $OUTPUTS -p $PWM_MAX
 	fi
 fi

ROMFS/px4fmu_common/init.d/rcS

@@ -8,7 +8,10 @@
 #
 set MODE autostart
 
-set logfile /fs/microsd/bootlog.txt
+set LOG_FILE /fs/microsd/bootlog.txt
+set RC_FILE /fs/microsd/etc/rc.txt
+set CONFIG_FILE /fs/microsd/etc/config.txt
+set EXTRAS_FILE /fs/microsd/etc/extras.txt
 
 #
 # Try to mount the microSD card.
@@ -25,35 +28,17 @@ else
 	tone_alarm error
 fi
 
-#
-# Set default values here, can be overriden in rc.txt from SD card
-#
-set HIL no
-set VEHICLE_TYPE none
-set FRAME_GEOMETRY none
-set OUTPUT_MODE none
-set VEHICLE_TYPE none
-set PWM_RATE none
-set PWM_DISARMED none
-set PWM_MIN none
-set PWM_MAX none
-
 #
 # Look for an init script on the microSD card.
+# Disable autostart if the script found.
 #
-# To prevent automatic startup in the current flight mode,
-# the script should set MODE to some other value.
-#
-if [ -f /fs/microsd/etc/rc ]
+if [ -f $RC_FILE ]
 then
-	echo "[init] reading /fs/microsd/etc/rc"
-	sh /fs/microsd/etc/rc
-fi
-# Also consider rc.txt files
-if [ -f /fs/microsd/etc/rc.txt ]
-then
-	echo "[init] reading /fs/microsd/etc/rc.txt"
-	sh /fs/microsd/etc/rc.txt
+	echo "[init] Executing init script: $RC_FILE"
+	sh $RC_FILE
+	set MODE custom
+else
+	echo "[init] Init script not found: $RC_FILE"
 fi
 
 # if this is an APM build then there will be a rc.APM script
@@ -72,15 +57,7 @@ fi
 
 if [ $MODE == autostart ]
 then
-	#
-	# Start CDC/ACM serial driver
-	#
-	sercon
-	
-	#
-	# Start the ORB (first app to start)
-	#
-	uorb start
+	echo "[init] AUTOSTART mode"
 	
 	#
 	# Load parameters
@@ -96,6 +73,16 @@ then
 		fi
 	fi
 
+	#
+	# Start CDC/ACM serial driver
+	#
+	sercon
+	
+	#
+	# Start the ORB (first app to start)
+	#
+	uorb start
+	
 	#
 	# Start system state indicator
 	#
@@ -114,36 +101,36 @@ then
 	#
 	if [ -f /etc/extras/px4io-v2_default.bin ]
 	then
-		set io_file /etc/extras/px4io-v2_default.bin
+		set IO_FILE /etc/extras/px4io-v2_default.bin
 	else
-		set io_file /etc/extras/px4io-v1_default.bin
+		set IO_FILE /etc/extras/px4io-v1_default.bin
 	fi
 
 	set IO_PRESENT no
 	
-	if px4io checkcrc $io_file
+	if px4io checkcrc $IO_FILE
 	then
 		echo "[init] PX4IO CRC OK"
-		echo "PX4IO CRC OK" >> $logfile
+		echo "PX4IO CRC OK" >> $LOG_FILE
 
 		set IO_PRESENT yes
 	else
 		echo "[init] PX4IO CRC failure"
-		echo "PX4IO CRC failure" >> $logfile
+		echo "PX4IO CRC failure" >> $LOG_FILE
 		tone_alarm MBABGP
-		if px4io forceupdate 14662 $io_file
+		if px4io forceupdate 14662 $IO_FILE
 		then
 			usleep 500000
 			if px4io start
 			then
 				echo "[init] PX4IO restart OK"
-				echo "PX4IO restart OK" >> $logfile
+				echo "PX4IO restart OK" >> $LOG_FILE
 				tone_alarm MSPAA
 
 				set IO_PRESENT yes
 			else
 				echo "[init] PX4IO restart failed"
-				echo "PX4IO restart failed" >> $logfile
+				echo "PX4IO restart failed" >> $LOG_FILE
 				if hw_ver compare PX4FMU_V2
 				then
 					tone_alarm MNGGG
@@ -153,7 +140,7 @@ then
 			fi
 		else
 			echo "[init] PX4IO update failed"
-			echo "PX4IO update failed" >> $logfile
+			echo "PX4IO update failed" >> $LOG_FILE
 			if hw_ver compare PX4FMU_V2
 			then
 				tone_alarm MNGGG
@@ -162,10 +149,19 @@ then
 	fi
 	
 	#
-	# Set default output if it was not defined in rc.txt
+	# Set default values
+	#
+	set HIL no
+	set VEHICLE_TYPE none
+	set FRAME_GEOMETRY none
+	set PWM_RATE none
+	set PWM_DISARMED none
+	set PWM_MIN none
+	set PWM_MAX none
+	
+	#
+	# Set default output
 	#
-	if [ $OUTPUT_MODE == none ]
-	then
 	if [ $IO_PRESENT == yes ]
 	then
 		# If PX4IO present, use it as primary PWM output by default
@@ -174,7 +170,6 @@ then
 		# Else use PX4FMU PWM output
 		set OUTPUT_MODE fmu_pwm
 	fi
-	fi
 	
 	set EXIT_ON_END no
 	
@@ -193,8 +188,17 @@ then
 	#
 	sh /etc/init.d/rc.autostart
 
-	if [ $MODE == autostart ]
+	#
+	# Override parameters from user configuration file
+	#
+	if [ -f $CONFIG_FILE ]
 	then
+		echo "[init] Reading config: $CONFIG_FILE"
+		sh $CONFIG_FILE
+	else
+		echo "[init] Config file not found: $CONFIG_FILE"
+	fi
+
 	if [ $HIL == yes ]
 	then
 		set OUTPUT_MODE hil
@@ -329,6 +333,12 @@ then
 	then
 		echo "[init] Vehicle type: FIXED WING"
 		
+		if [ $FRAME_GEOMETRY == none ]
+		then
+			# Set default frame geometry for fixed wing
+			set FRAME_GEOMETRY AERT
+		fi
+		
 		# Load mixer and configure outputs
 		sh /etc/init.d/rc.fw_interface
 		
@@ -343,6 +353,12 @@ then
 	then
 		echo "[init] Vehicle type: MULTICOPTER"
 		
+		if [ $FRAME_GEOMETRY == none ]
+		then
+			# Set default frame geometry for multicopter
+			set FRAME_GEOMETRY quad_x
+		fi
+		
 		# Load mixer and configure outputs
 		sh /etc/init.d/rc.mc_interface
 		
@@ -360,12 +376,14 @@ then
 		attitude_estimator_ekf start
 		position_estimator_inav start
 	fi
-	fi
 
-	# Start any custom extensions
-	if [ -f /fs/microsd/etc/rc.local ]
+	# Start any custom addons
+	if [ -f $EXTRAS_FILE ]
 	then
-		sh /fs/microsd/etc/rc.local
+		echo "[init] Starting addons script: $EXTRAS_FILE"
+		sh $EXTRAS_FILE
+	else
+		echo "[init] Addons script not found: $EXTRAS_FILE"
 	fi
 
 	if [ $EXIT_ON_END == yes ]