From 402ad9f48f7da957cbd9b10d82668f470cef374a Mon Sep 17 00:00:00 2001
From: Simone Guscetti <simone@px4.io>
Date: Tue, 20 Jun 2017 15:23:20 +0200
Subject: [PATCH] rcS: partially change rcS to start the modified tone driver -
 Start tone_alrm driver after uorb - Replace tone_alarm $TUNE_ERR with
 tune_control play -m ${TUNE_ERR} - TUNE_ERR is a string

---
 ROMFS/px4fmu_common/init.d/rcS | 27 +++++++++++++++------------
 1 file changed, 15 insertions(+), 12 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 33f3fbd4e0..58403fd88e 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -51,7 +51,7 @@ ver all
 #
 set MODE autostart
 
-set TUNE_ERR ML<<CP4CP4CP4CP4CP4
+set TUNE_ERR "ML<<CP4CP4CP4CP4CP4"
 set LOG_FILE /fs/microsd/bootlog.txt
 
 #
@@ -68,9 +68,6 @@ then
 			hardfault_log reset
 			tone_alarm stop
 		fi
-	else
-		# Start playing the startup tune
-		tone_alarm start
 	fi
 else
 	tone_alarm MBAGP
@@ -109,6 +106,12 @@ then
 	#
 	uorb start
 
+	# Start tone driver
+	tone_alarm start
+
+	# play startup tone
+	tune_control play -t 1
+
 	#
 	# Load parameters
 	#
@@ -338,7 +341,7 @@ then
 					fi
 				else
 					echo "PX4IO update failed" >> $LOG_FILE
-					tone_alarm ${TUNE_ERR}
+					tune_control play -m ${TUNE_ERR}
 				fi
 			fi
 		fi
@@ -347,7 +350,7 @@ then
 		if [ $IO_PRESENT == no ]
 		then
 			echo "PX4IO not found" >> $LOG_FILE
-			tone_alarm ${TUNE_ERR}
+			tune_control play -m ${TUNE_ERR}
 		fi
 	fi
 
@@ -464,7 +467,7 @@ then
 				sh /etc/init.d/rc.io
 			else
 				echo "PX4IO start failed" >> $LOG_FILE
-				tone_alarm $TUNE_ERR
+				tune_control play -m  ${TUNE_ERR}
 			fi
 		fi
 
@@ -474,7 +477,7 @@ then
 			then
 			else
 				echo "FMU start failed" >> $LOG_FILE
-				tone_alarm $TUNE_ERR
+				tune_control play -m ${TUNE_ERR}
 			fi
 		fi
 
@@ -493,7 +496,7 @@ then
 			if mkblctrl $MKBLCTRL_ARG
 			then
 			else
-				tone_alarm $TUNE_ERR
+				tune_control play -m ${TUNE_ERR}
 			fi
 			unset MKBLCTRL_ARG
 		fi
@@ -504,7 +507,7 @@ then
 			if pwm_out_sim mode_pwm16
 			then
 			else
-				tone_alarm $TUNE_ERR
+				tune_control play -m ${TUNE_ERR}
 			fi
 		fi
 
@@ -520,7 +523,7 @@ then
 					sh /etc/init.d/rc.io
 				else
 					echo "PX4IO start failed" >> $LOG_FILE
-					tone_alarm $TUNE_ERR
+					tune_control play -m ${TUNE_ERR}
 				fi
 			fi
 		else
@@ -530,7 +533,7 @@ then
 				then
 				else
 					echo "FMU mode_${FMU_MODE} start failed" >> $LOG_FILE
-					tone_alarm $TUNE_ERR
+					tune_control play -m ${TUNE_ERR}
 				fi
 			fi
 		fi