ROMFS handle bl_update generically

- include all available legacy bootloaders

ROMFS/CMakeLists.txt

@@ -31,11 +31,12 @@
 #
 ############################################################################
 
-message(STATUS "ROMFS: ${config_romfs_root}")
-
 set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
 set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc)
 
+file(RELATIVE_PATH romfs_path_relative ${PX4_SOURCE_DIR} ${romfs_src_dir})
+message(STATUS "ROMFS: ${romfs_path_relative}")
+
 set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
 set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
 
@@ -149,9 +150,22 @@ if(config_io_board)
 		copy_px4io_bin
 		${fw_io_bin}
 	)
+	file(RELATIVE_PATH iofw_file_relative ${PX4_SOURCE_DIR} ${fw_io_bin})
+	message(STATUS "ROMFS:  Adding ${iofw_file_relative} -> /etc/extras/${config_io_board}.bin")
 endif()
 
-if(config_build_bootloader)
+
+# board bootloader (built or included)
+if(TARGET copy_bootloader_bin)
+
+	if(board_bootloader_firmware)
+		file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${board_bootloader_firmware})
+		message(STATUS "ROMFS:  Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
+	else()
+		file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${bootloader_bin})
+		message(STATUS "ROMFS:  Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
+	endif()
+
 	list(APPEND extras_dependencies
 		copy_bootloader_bin
 		${bootloader_bin}
@@ -162,7 +176,8 @@ endif()
 # optional board architecture defaults
 set(board_arch_rc_file "rc.board_arch_defaults")
 if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
-	message(STATUS "ROMFS: Adding ${board_arch_rc_file}")
+	file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file})
+	message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/${board_arch_rc_file}")
 
 	add_custom_command(
 		OUTPUT
@@ -193,7 +208,8 @@ list(APPEND OPTIONAL_BOARD_RC
 foreach(board_rc_file ${OPTIONAL_BOARD_RC})
 
 	if(EXISTS "${PX4_BOARD_DIR}/init/${board_rc_file}")
-		message(STATUS "ROMFS: Adding ${board_rc_file}")
+		file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${board_rc_file})
+		message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/${board_rc_file}")
 
 		add_custom_command(
 			OUTPUT
@@ -221,7 +237,7 @@ if(config_uavcan_peripheral_firmware)
 
 	foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
 		# include the px4io binary in ROMFS
-		message(STATUS "ROMFS: Building and including UAVCAN peripheral ${uavcan_peripheral_config}")
+		message(STATUS "ROMFS:  Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
 		ExternalProject_Add(build_${uavcan_peripheral_config}
 			SOURCE_DIR ${CMAKE_SOURCE_DIR}
 			DOWNLOAD_COMMAND ""

ROMFS/px4fmu_common/extras/README.txt

@@ -1,5 +0,0 @@
-px4fmuv3_bl.bin: Bootloader binary of the PX4 Bootloader
-  (https://github.com/PX4/Bootloader)
-  based on commit 184b813699a9cfd6f43a5a21556a06b4372baf5f
-  for the target px4fmuv3_bl
-

ROMFS/px4fmu_common/init.d/rcS

@@ -549,6 +549,22 @@ else
 		. ${R}etc/init.d/rc.autostart.post
 	fi
 
+	#
+	# Bootloader upgrade
+	#
+	if param compare -s SYS_BL_UPDATE 1
+	then
+		if [ -f "/etc/extras/bootloader.bin" ]
+		then
+			param set SYS_BL_UPDATE 0
+			param save
+			echo "bootloader update..."
+			bl_update "/etc/extras/bootloader.bin"
+			echo "bootloader update done, rebooting"
+			reboot
+		fi
+	fi
+
 	if ! param compare SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
 	then
 		echo "Switched to different parameter version. Resetting parameters."