path: root/ROMFS/px4fmu_common/init.d/40_io_segway

#!nsh

#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
	# Set all params here, then disable autoconfig
	# TODO
	
	param set SYS_AUTOCONFIG 0
	param save
fi
 
#
# Force some key parameters to sane values
# MAV_TYPE     10 = ground rover
#
param set MAV_TYPE 10
  
#
# Start MAVLink (depends on orb)
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
 
#
# Start and configure PX4IO interface
#
sh /etc/init.d/rc.io
 
#
# Start the commander (depends on orb, mavlink)
#
commander start

#
# 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)
#
roboclaw start /dev/ttyS2 128 1200
segway start