From a615f57c803c7499585d01e6efe414e44899e45d Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Thu, 24 Mar 2016 22:31:47 +0100
Subject: [PATCH] rcS: Make the passthrough option a vehicle_type

---
 .../init.d/20000_snapdragon_rc_pwm            |  2 +-
 ROMFS/px4fmu_common/init.d/rcS                | 65 ++++++++++---------
 2 files changed, 36 insertions(+), 31 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm b/ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm
index 573ef358a9..ba1a380478 100644
--- a/ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm
+++ b/ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm
@@ -9,4 +9,4 @@
 # This startup can be used on Pixhawk/Pixfalcon/Pixracer for the
 # passthrough of RC input and PWM output.
 
-set PASSTHROUGH yes
+set VEHICLE_TYPE passthrough
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 62a457eed4..3d2a392541 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -133,7 +133,6 @@ then
 	set GPS yes
 	set GPS_FAKE no
 	set FAILSAFE none
-	set PASSTHROUGH no
 
 	#
 	# Set AUTOCNF flag to use it in AUTOSTART scripts
@@ -734,6 +733,40 @@ then
 		param set MAV_TYPE 10
 	fi
 
+	#
+	# For snapdragon, we need a passthrough mode
+	# Do not run any mavlink instances since we need the serial port for
+	# communication with Snapdragon.
+	#
+	if [ $VEHICLE_TYPE == passthrough ]
+	then
+		mavlink stop-all
+
+		# Stop multicopter attitude controller if it is running, the controls come
+		# from Snapdragon.
+		if mc_att_control stop
+		then
+		fi
+
+		# Start snapdragon interface on serial port.
+		if ver hwcmp PX4FMU_V2
+		then
+			# On Pixfalcon use the standard telemetry port (Telem 1).
+			snapdragon_rc_pwm start -d /dev/ttyS1
+			px4io start
+		fi
+
+		if ver hwcmp PX4FMU_V4
+		then
+			# On Pixracer use Telem 2 port (TL2).
+			snapdragon_rc_pwm start -d /dev/ttyS2
+			fmu mode_pwm4
+		fi
+
+		# Arm straightaway.
+		pwm arm
+	fi
+
 	unset MIXER
 	unset MAV_TYPE
 	unset OUTPUT_MODE
@@ -808,41 +841,13 @@ then
 	nshterm /dev/ttyACM0 &
 else
 	# Don't start mavlink in passthrough mode because we currently can't seem to stop it.
-	if [ $PASSTHROUGH == no ]
+	if [ $VEHICLE_TYPE != passthrough ]
 	then
 		mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
 	fi
 fi
 
 
-# For snapdragon, we need a passthrough mode
-# Do not run any mavlink instances since we need the serial port for
-# communication with Snapdragon.
-if [ $PASSTHROUGH == yes ]
-then
-	mavlink stop-all
-
-	# Stop multicopter attitude controller if it is running, the controls come
-	# from Snapdragon.
-	if mc_att_control stop
-	then
-	fi
-
-	# Start snapdragon interface on serial port.
-	if ver hwcmp PX4FMU_V2
-	then
-		# On Pixfalcon use the standard telemetry port (Telem 1).
-		snapdragon_rc_pwm start -d /dev/ttyS1
-	fi
-
-	if ver hwcmp PX4FMU_V4
-	then
-		# On Pixracer use Telem 2 port (TL2).
-		snapdragon_rc_pwm start -d /dev/ttyS2
-	fi
-fi
-
-
 if [ $EXIT_ON_END == yes ]
 then
 	echo "Exit from nsh"