From 2794ff2ddadb00c92d1be4d0e260b4e16bab2ec5 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 3 Jan 2016 15:27:45 +0100
Subject: [PATCH] Start shell only if SD card not present

---
 ROMFS/px4fmu_common/init.d/rcS | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index a2a726bd7c..5e859ae222 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -60,9 +60,6 @@ unset FRC
 
 if [ $MODE == autostart ]
 then
-	# Try to get an USB console
-	# REBOOTWORK this needs to start after the flight control loop
-	nshterm /dev/ttyACM0 &
 
 	#
 	# Start the ORB (first app to start)
@@ -844,6 +841,15 @@ then
 	px4flow start &
 fi
 
+# Start USB shell if no microSD present, MAVLink else
+if [ $LOG_FILE == /dev/null ]
+then
+	# Try to get an USB console
+	nshterm /dev/ttyACM0 &
+else
+	mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
+fi
+
 if [ $EXIT_ON_END == yes ]
 then
 	echo "Exit from nsh"