From e12acc4b282d26ae1b8c1e1cb4220b53ef54b097 Mon Sep 17 00:00:00 2001
From: mcsauder <mcsauder@gmail.com>
Date: Wed, 11 Jul 2018 14:12:08 -0600
Subject: [PATCH] Migrate hardware specific mavlink stream cases to rc.mavlink.

---
 ROMFS/px4fmu_common/init.d/rc.mavlink | 24 ++++++++++++++++++++++++
 ROMFS/px4fmu_common/init.d/rcS        | 14 --------------
 2 files changed, 24 insertions(+), 14 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rc.mavlink b/ROMFS/px4fmu_common/init.d/rc.mavlink
index d6d35642a1..b4860b11df 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mavlink
+++ b/ROMFS/px4fmu_common/init.d/rc.mavlink
@@ -38,7 +38,31 @@
 # USART6        /dev/ttyS2      GPS
 #
 
+###############################################################################
+#               Begin Setup for board specific configurations.                #
+###############################################################################
 
+if ver hwcmp AEROFC_V1
+then
+	# don't start mavlink ttyACM0 on aerofc_v1
+else
+	# Start MAVLink
+	mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
+fi
+
+if ver hwcmp NXPHLITE_V3
+then
+	set MAVLINK_COMPANION_DEVICE /dev/ttyS4
+fi
+
+if ver hwcmp OMNIBUS_F4SD
+then
+	set MAVLINK_COMPANION_DEVICE /dev/ttyS1
+fi
+
+###############################################################################
+#                 End Setup for board specific configurations.                #
+###############################################################################
 
 if [ $MAVLINK_F == default ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 6cab042ddb..201b1fb180 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -206,12 +206,6 @@ then
 	if ver hwcmp NXPHLITE_V3
 	then
 		param set SYS_FMU_TASK 1
-		set MAVLINK_COMPANION_DEVICE /dev/ttyS4
-	fi
-
-	if ver hwcmp OMNIBUS_F4SD
-	then
-		set MAVLINK_COMPANION_DEVICE /dev/ttyS1
 	fi
 
 	#
@@ -555,14 +549,6 @@ then
 		px4flow start &
 	fi
 
-	if ver hwcmp AEROFC_V1
-	then
-		# don't start mavlink ttyACM0 on aerofc_v1
-	else
-		# Start MAVLink
-		mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
-	fi
-
 	#
 	# Fixed wing setup
 	#