From 986607b37d4a74e3311e179e022f8f0a0f61b686 Mon Sep 17 00:00:00 2001
From: David Sidrane <david_s5@nscdg.com>
Date: Sun, 17 Sep 2017 08:53:04 -1000
Subject: [PATCH] PX4_SAME70XPLAINED_V1:Remove unnesasary conditional for FMU
 mode

---
 ROMFS/px4fmu_common/init.d/rcS | 36 +++++++++++++++-------------------
 1 file changed, 16 insertions(+), 20 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index c2a6b6850c..4188c0feda 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -426,33 +426,29 @@ then
 		set OUTPUT_MODE uavcan_esc
 	fi
 
-	if ver hwcmp PX4_SAME70XPLAINED_V1
+	# Sensors on the PWM interface bank
+	if param compare SENS_EN_LL40LS 1
 	then
-	else
-		# Sensors on the PWM interface bank
-		if param compare SENS_EN_LL40LS 1
+		# clear pins 5 and 6
+		set FMU_MODE pwm4
+		set AUX_MODE pwm4
+	fi
+	if param greater TRIG_MODE 0
+	then
+		# We ONLY support trigger on pins 5 and 6 when simultanously using AUX for actuator output
+		if param compare TRIG_PINS 56
 		then
 			# clear pins 5 and 6
 			set FMU_MODE pwm4
 			set AUX_MODE pwm4
+		else
+			set FMU_MODE none
+			set AUX_MODE none
 		fi
-		if param greater TRIG_MODE 0
-		then
-			# We ONLY support trigger on pins 5 and 6 when simultanously using AUX for actuator output
-			if param compare TRIG_PINS 56
-			then
-				# clear pins 5 and 6
-				set FMU_MODE pwm4
-				set AUX_MODE pwm4
-			else
-				set FMU_MODE none
-				set AUX_MODE none
-			fi
-			camera_trigger start
+		camera_trigger start
 
-			param set CAM_FBACK_MODE 1
-			camera_feedback start
-		fi
+		param set CAM_FBACK_MODE 1
+		camera_feedback start
 	fi
 
 	# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output