path: root/ROMFS/px4fmu_common/init.d/02_io_quad_x

#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
 
# disable USB and autostart
set USB no
set MODE custom
 
#
# Start the ORB (first app to start)
#
uorb start
 
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
	param load /fs/microsd/params
fi

#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
	# Set all params here, then disable autoconfig
	param set SYS_AUTOCONFIG 0
	param save /fs/microsd/params
fi
 
#
# Force some key parameters to sane values
# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
#              see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 2
 
#
# Start MAVLink (depends on orb)
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
 
#
# Start the commander (depends on orb, mavlink)
#
commander start
 
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
 
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery

#
# Disable px4io topic limiting
#
px4io limit 200
 
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
 
#
# Start GPS interface (depends on orb)
#
gps start
 
#
# Start the attitude estimator (depends on orb)
#
attitude_estimator_ekf start
 
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
pwm -u 400 -m 0xff
multirotor_att_control start
 
#
# Start logging once armed
#
sdlog2 start -r 50 -a -b 14
 
#
# Start system state
#
if blinkm start
then
	blinkm systemstate
fi