From 0ecf6436f83c1d84c63edf0f8b270a1b1b6cf770 Mon Sep 17 00:00:00 2001
From: mcsauder <mcsauder@gmail.com>
Date: Wed, 19 Sep 2018 09:15:46 -0600
Subject: [PATCH] Modify 500001_axialracing_ax10 to utilize rc.ugv_defaults to
 allow deprecating rc.axialracing_ax10_apps and rc.axialracing_ax10_defaults
 and update CMakeLists.txt.

---
 .../init.d/50001_axialracing_ax10             | 21 +++++++++--
 ROMFS/px4fmu_common/init.d/CMakeLists.txt     |  2 --
 .../init.d/rc.axialracing_ax10_apps           | 15 --------
 .../init.d/rc.axialracing_ax10_defaults       | 36 -------------------
 ROMFS/tap_common/init.d/rcS                   |  6 ++--
 5 files changed, 21 insertions(+), 59 deletions(-)
 delete mode 100644 ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_apps
 delete mode 100644 ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_defaults

diff --git a/ROMFS/px4fmu_common/init.d/50001_axialracing_ax10 b/ROMFS/px4fmu_common/init.d/50001_axialracing_ax10
index 5e88ec598f..e114eccee2 100644
--- a/ROMFS/px4fmu_common/init.d/50001_axialracing_ax10
+++ b/ROMFS/px4fmu_common/init.d/50001_axialracing_ax10
@@ -17,7 +17,22 @@
 # @board px4fmu-v2 exclude
 #
 
-sh /etc/init.d/rc.axialracing_ax10_defaults
+sh /etc/init.d/rc.ugv_defaults
 
-#choose a mixer, for rover control we need a plain passthrough to the servos
-set MIXER IO_pass
+#
+# This section can be enabled once tuning parameters for this particular
+# rover model are known. It allows to configure default gains via the GUI.
+#
+if [ $AUTOCNF == yes ]
+then
+	# PWM default value for "disarmed" mode.
+	# This centers the steering and throttle, which means
+	# no motion for a rover.
+	param set PWM_DISARMED 1500
+
+	# PWM range.
+	param set PWM_MIN 1200
+	param set PWM_MAX 1800
+fi
+
+set MIXER IO_pass
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/CMakeLists.txt
index 0a8ff11660..397c588e2f 100644
--- a/ROMFS/px4fmu_common/init.d/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d/CMakeLists.txt
@@ -100,8 +100,6 @@ px4_add_romfs_files(
 	50000_generic_ground_vehicle
 	50001_axialracing_ax10
 	50002_traxxas_stampede_2wd
-	rc.axialracing_ax10_apps
-	rc.axialracing_ax10_defaults
 	rc.fw_apps
 	rc.fw_defaults
 	rc.interface
diff --git a/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_apps b/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_apps
deleted file mode 100644
index 1a46605357..0000000000
--- a/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_apps
+++ /dev/null
@@ -1,15 +0,0 @@
-#!nsh
-#
-# Standard apps for rovers:
-# Attitude/Position estimator and rover steering control.
-#
-# NOTE: Script variables are declared/initialized/unset in the rcS script.
-#
-
-#
-# Start the Attitude estimator.
-#
-ekf2 start
-
-# disabled the start of steering control app due to use of offboard mode only
-# rover_steering_control start.
diff --git a/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_defaults b/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_defaults
deleted file mode 100644
index fa0563e127..0000000000
--- a/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_defaults
+++ /dev/null
@@ -1,36 +0,0 @@
-#!nsh
-#
-# Standard defaults for rovers.
-#
-# NOTE: Script variables are declared/initialized/unset in the rcS script.
-#
-
-set VEHICLE_TYPE ugv
-
-#
-# This section can be enabled once tuning parameters for this particular
-# rover model are known. It allows to configure default gains via the GUI.
-#
-if [ $AUTOCNF == yes ]
-then
-	# PWM default value for "disarmed" mode.
-	# This centers the steering and throttle, which means
-	# no motion for a rover.
-	param set PWM_DISARMED 1500
-
-	# PWM range.
-	param set PWM_MIN 1200
-	param set PWM_MAX 1800
-fi
-
-#
-# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
-# may damage analog servos.
-#
-set PWM_RATE 50
-
-#
-# Enable servo output on pins 3 and 4 (steering and thrust) but also
-# include 1+2 as they form one output group and need to be set together.
-#
-set PWM_OUT 1234
diff --git a/ROMFS/tap_common/init.d/rcS b/ROMFS/tap_common/init.d/rcS
index eb315f4bc3..de70122891 100644
--- a/ROMFS/tap_common/init.d/rcS
+++ b/ROMFS/tap_common/init.d/rcS
@@ -313,9 +313,9 @@ then
 fi
 
 #
-# Rover setup
+# UGV/Rover setup
 #
-if [ $VEHICLE_TYPE == rover ]
+if [ $VEHICLE_TYPE == ugv ]
 then
 	# 10 is MAV_TYPE_GROUND_ROVER
 	set MAV_TYPE 10
@@ -324,7 +324,7 @@ then
 	sh /etc/init.d/rc.interface
 
 	# Start standard rover apps
-	sh /etc/init.d/rc.axialracing_ax10_apps
+	sh /etc/init.d/rc.ugv_apps
 
 	param set MAV_TYPE 10
 fi