FMU boot: Do not set params unless in config mode

PX4 · Sep 4, 2016 · 2548705 · 2548705
1 parent 585147d
commit 2548705
Showing 1 changed file with 12 additions and 14 deletions.
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
@@ -219,16 +219,6 @@ then
 	fi
 	unset FCONFIG
 
-	#
-	# If autoconfig parameter was set, reset it and save parameters
-	#
-	if [ $AUTOCNF == yes ]
-	then
-		param set SYS_AUTOCONFIG 0
-		param save
-	fi
-	unset AUTOCNF
-
 	set IO_PRESENT no
 
 	if [ $USE_IO == yes ]
@@ -837,8 +827,7 @@ then
 		then
 			echo "WARN  [init] Unknown MAV_TYPE"
 			param set MAV_TYPE 19
-		else
-			param set MAV_TYPE $MAV_TYPE
+			set MAV_TYPE 19
 		fi
 
 		# Load mixer and configure outputs
@@ -861,8 +850,6 @@ then
 
 		# Start standard rover apps
 		sh /etc/init.d/rc.axialracing_ax10_apps
-
-		param set MAV_TYPE 10
 	fi
 
 	#
@@ -905,6 +892,17 @@ then
 		pwm rate -a -r 400
 	fi
 
+	#
+	# If autoconfig parameter was set, reset it and save parameters
+	#
+	if [ $AUTOCNF == yes ]
+	then
+		param set MAV_TYPE $MAV_TYPE
+		param set SYS_AUTOCONFIG 0
+		param save
+	fi
+	unset AUTOCNF
+
 	unset MIXER
 	unset MAV_TYPE
 	unset OUTPUT_MODE