Optimize rc shell

PX4 · Mar 30, 2016 · c528c02 · c528c02
1 parent 4aa13d8
commit c528c02
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Showing 2 changed files with 59 additions and 62 deletions.
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -83,78 +83,81 @@ then
 		then
 		fi
 	fi
-else
-	if ver hwcmp PX4FMU_V4
+fi
+
+if ver hwcmp PX4FMU_V4
+then
+	# External I2C bus
+	if hmc5883 -C -T -X start
 	then
-		# External I2C bus
-		if hmc5883 -C -T -X start
-		then
-		fi
+	fi
 
-		# Internal SPI bus is rotated 90 deg yaw
-		if hmc5883 -C -T -S -R 2 start
-		then
-		fi
+	# Internal SPI bus is rotated 90 deg yaw
+	if hmc5883 -C -T -S -R 2 start
+	then
+	fi
 
-		# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
-		if mpu6000 -R 2 -T 20608 start
-		then
-		fi
+	# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
+	if mpu6000 -R 2 -T 20608 start
+	then
+	fi
+
+	# Internal SPI bus mpu9250 is rotated 90 deg yaw
+	if mpu9250 -R 2 start
+	then
+	fi
+fi
+
+if ver hwcmp PX4FMU_V1
+then
+	# FMUv1
+	if mpu6000 start
+	then
+	fi
+
+	if l3gd20 start
+	then
+	fi
 
-		# Internal SPI bus mpu9250 is rotated 90 deg yaw
-		if mpu9250 -R 2 start
+	# MAG selection
+	if param compare SENS_EXT_MAG 2
+	then
+		if hmc5883 -C -I start
 		then
 		fi
 	else
-		if ver hwcmp MINDPX_V2
+		# Use only external as primary
+		if param compare SENS_EXT_MAG 1
 		then
-			if mpu6500 start
+			if hmc5883 -C -X start
 			then
 			fi
-
-			if lsm303d start
+		else
+		# auto-detect the primary, prefer external
+			if hmc5883 start
 			then
 			fi
+		fi
+	fi
+fi
 
-			if l3gd20 start
-			then
-			fi
+if ver hwcmp MINDPX_V2
+then
+	if mpu6500 start
+	then
+	fi
 
-			# External I2C bus
-			if hmc5883 -C -T -X start
-			then
-			fi
-		else
-			# FMUv1
-			if mpu6000 start
-			then
-			fi
+	if lsm303d start
+	then
+	fi
 
-			if l3gd20 start
-			then
-			fi
+	if l3gd20 start
+	then
+	fi
 
-			# MAG selection
-			if param compare SENS_EXT_MAG 2
-			then
-				if hmc5883 -C -I start
-				then
-				fi
-			else
-				# Use only external as primary
-				if param compare SENS_EXT_MAG 1
-				then
-					if hmc5883 -C -X start
-					then
-					fi
-				else
-				# auto-detect the primary, prefer external
-					if hmc5883 start
-					then
-					fi
-				fi
-			fi
-		fi
+	# External I2C bus
+	if hmc5883 -C -T -X start
+	then
 	fi
 fi
 

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
@@ -815,12 +815,6 @@ fi
 # XXX potentially unset all script variables.
 unset TUNE_ERR
 
-#if ver hwcmp MINDPX_V2
-#then
-#	start sonnar
-#	hc_sr04 start
-#fi
-
 # Boot is complete, inform MAVLink app(s) that the system is now fully up and running
 mavlink boot_complete