To start install the packages required to access the USB and mount the filesystem. You can use uci command or LuCI web interface to configure the mount point.
Here comes the tricky part. The default priority order of init scripts starts usb after mounting fstab. This is a problem since mounting will fail. The results is hdd not mounting at startup but if you restart the fstab init script the mount works.
To overcome this problem simply change the priority of fstab init script:
cd /etc/init.d/
vi fstab
vi fstab
Change top line containing the START variable to:
START=59
Now just run:
./fstab disable
./fstab enable
./fstab enable
This will setup correct symlinks in:
/etc/rc.d
Now the mounting works correctly on startup.