Fixed (temporarily) HIL by allowing index 1000 to start a matching setup

ROMFS/px4fmu_common/init.d/rc.hil

@@ -5,10 +5,9 @@
 
 echo "[HIL] starting.."
 
-uorb start
-
 # Tell MAVLink that this link is "fast"
-mavlink start -b 230400 -d /dev/ttyS1
+sleep 2
+mavlink start -b 230400 -d /dev/ttyACM0
 
 # Create a fake HIL /dev/pwm_output interface
 hil mode_pwm
@@ -50,7 +49,8 @@ att_pos_estimator_ekf start
 # Load mixer and start controllers (depends on px4io)
 #
 mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
-fw_pos_control_l1 start
+#fw_pos_control_l1 start
 fw_att_control start
 
 echo "[HIL] setup done, running"
+

ROMFS/px4fmu_common/init.d/rc.usb

@@ -21,7 +21,6 @@ if mavlink stop
 then
 	echo "stopped other MAVLink instance"
 fi
-sleep 2
 mavlink start -b 230400 -d /dev/ttyACM0
 
 # Stop commander
@@ -37,13 +36,6 @@ 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

ROMFS/px4fmu_common/init.d/rcS

@@ -101,8 +101,14 @@ then
 		fi
 	fi
 
-	# Try to get an USB console
-	nshterm /dev/ttyACM0 &
+	if param compare SYS_AUTOSTART 1000
+	then
+		sh /etc/init.d/rc.hil
+		set MODE custom
+	else
+		# Try to get an USB console
+		nshterm /dev/ttyACM0 &
+	fi
 	
 	#
 	# Upgrade PX4IO firmware
@@ -202,7 +208,6 @@ then
 	then
 		# Telemetry port is on both FMU boards ttyS1
 		mavlink start -b 57600 -d /dev/ttyS1
-		usleep 5000
 	
 		# Start commander
 		commander start