From 792667e311d5e09443bd7f05ea1ce71155e2f11a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 16 Jan 2014 12:47:48 +1100
Subject: [PATCH] PX4: test MTD device on boot

full rwtest on FMUv2, read test on FMUv1
---
 mk/PX4/ROMFS/init.d/rc.APM | 26 ++++++++++++++++++++++++++
 1 file changed, 26 insertions(+)

diff --git a/mk/PX4/ROMFS/init.d/rc.APM b/mk/PX4/ROMFS/init.d/rc.APM
index 2f9bad7ab4..90a7854c1b 100644
--- a/mk/PX4/ROMFS/init.d/rc.APM
+++ b/mk/PX4/ROMFS/init.d/rc.APM
@@ -261,9 +261,35 @@ then
     echo "started mtd driver OK"
 else
     echo "failed to start mtd driver"
+    echo "failed to start mtd driver" >> $logfile
     sh /etc/init.d/rc.error           
 fi
 
+if mtd readtest /fs/mtd
+then
+    echo "mtd readtest OK"
+else
+    echo "failed to read mtd"
+    echo "failed to read mtd" >> $logfile
+    sh /etc/init.d/rc.error           
+fi
+
+if [ $BOARD == FMUv2 ]
+then
+  # the ramtron on FMUv2 is very fast and can handle trillions of
+  # writes. This full rw test on each boot ensures it is working
+  # properly. We have one board that failed this, so
+  # the test is arguably worth having
+  if mtd rwtest /fs/mtd
+  then
+    echo "mtd rwtest OK"
+  else
+    echo "failed to test mtd"
+    echo "failed to test mtd" >> $logfile
+    sh /etc/init.d/rc.error           
+  fi
+fi
+
 echo Starting ArduPilot $deviceA $deviceC $deviceD
 if ArduPilot -d $deviceA -d2 $deviceC -d3 $deviceD start
 then