From acaf7cd267fe8ef49b64a3c3acc3e51a0d4743eb Mon Sep 17 00:00:00 2001
From: ChristophTobler <christoph@px4.io>
Date: Wed, 31 Jan 2018 09:14:34 +0100
Subject: [PATCH] rcS: automate tfmini start

disable mavlink on aero telemetry if tfmini enabled and start on mavlink companion device for others (needs SYS_COMPANION to be 0)
---
 ROMFS/px4fmu_common/init.d/rc.sensors | 12 ++++++++++++
 ROMFS/px4fmu_common/init.d/rcS        |  8 +++++++-
 2 files changed, 19 insertions(+), 1 deletion(-)

diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 38b1b4662a..e9187a8bc8 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -400,6 +400,18 @@ then
 	then
 		# start the driver on serial 4/5
 		tfmini start -d /dev/ttyS6
+	else
+		if ver hwcmp AEROFC_V1
+		then
+			# start the driver on telemetry
+			tfmini start -d /dev/ttyS3
+		else
+			if param compare SYS_COMPANION 0
+			then
+				# start on default mavlink companion device
+				tfmini start -d /dev/ttyS2
+			fi
+		fi
 	fi
 fi
 
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 58403fd88e..0c1539df9b 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -554,7 +554,13 @@ then
 
 		if ver hwcmp AEROFC_V1
 		then
-			set MAVLINK_F "-r 1200 -d /dev/ttyS3"
+			# Only start mavlink if the Benewake TFMini isn't being used
+			if param greater SENS_EN_TFMINI 0
+			then
+				set MAVLINK_F none
+			else
+				set MAVLINK_F "-r 1200 -d /dev/ttyS3"
+			fi
 		fi
 
 		if ver hwcmp CRAZYFLIE