Here they are: Init.d scripts for broadcasting if you setup your RPi as Access Point and autostarting ArduCopter

Navio / Edge Flight stack
2

Here an updated init.d script for broadcasting the output of ArduPilot to the whole network.
It should support auto recognition of the proper broadcasting IP adress of the interface “wlan0”.

#!/bin/sh

### BEGIN INIT INFO
# Provides:          ArduProxy
# Required-Start:    $remote_fs $syslog
# Required-Stop:     $remote_fs $syslog
# Default-Start:     2 3 4 5
# Default-Stop:      0 1 6
# Short-Description: Multiplexes the UDP socket connection of ArduPilot
# Description:       If using the RPi as a WiFi access point, we want all connected computers to get the state of the vehicle.
### END INIT INFO

NAME=ArduProxy
PATH=/sbin:/usr/sbin:/bin:/usr/bin:/usr/local/bin
DIR=/usr/bin
BIN=socat
DAEMON=$DIR/$BIN
CONFF="/etc/network/interfaces"
DESC="ArduProxy @ Navio+"
PORT="14550"
PIDFILE=/var/run/$NAME.pid

# Check for missing binaries (socat)
test -x $DAEMON || { echo "$BIN not installed";
        if [ "$1" = "stop" ]; then exit 0;
        else exit 5; fi; }

# Check for existence of a network interfaces configuration file
test -r $CONFF || { echo "$CONFF not existing";
        if [ "$1" = "stop" ]; then exit 0;
        else exit 6; fi; }

# Get the network adress of the interface wlan0
NETWORK=$(awk -v par="wlan0" '
          /^iface/ && $2==par {f=1}
          f && /^\s*address/ {ip=$2; sub(".1$", ".255", ip); print ip; f=0}' $CONFF)

# If IP was found, prepare option parameter for 'socat'
# else exit this script
if [ "$NETWORK" = "" ]; then echo "Error: no address for interface wlan0 was defined."; exit 0; fi
OPTIONS="UDP4-LISTEN:$PORT,fork UDP4-DATAGRAM:$NETWORK:$PORT,broadcast"

# Load some functions for the process administration
. /lib/lsb/init-functions

do_start() {
  log_daemon_msg "Starting system $DAEMON $ARGS daemon"
  /sbin/start-stop-daemon --start --pidfile $PIDFILE \
    -b --make-pidfile \
    --exec $DAEMON -- $OPTIONS
  log_end_msg $?
}

do_stop() {
  log_daemon_msg "Stopping system $DAEMON $ARGS daemon"
  /sbin/start-stop-daemon --stop --pidfile $PIDFILE --verbose
  log_end_msg $?
}

case "$1" in
  start)
    do_start
    ;;
  stop)
    log_daemon_msg "Stopping system $DAEMON $ARGS daemon"
    do_stop
    ;;
  restart|reload|force-reload)
    do_stop
    do_start
    ;;
  status)
    status_of_proc -p $PIDFILE $DAEMON $NAME && exit 0 || exit $?
    ;;
  *)
    echo "Usage: /etc/init.d/$USER {start|stop|restart|status}"
    exit 1
    ;;
esac

exit 0
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