path: root/ROMFS/px4fmu_common/init.d/rc.multirotor

#!nsh
#
# Standard everything needed for multirotors except mixer, output and mavlink
#

#
# Start the sensors and test them.
#
sh /etc/init.d/rc.sensors

#
# Start the commander.
#
commander start

#
# Start GPS interface (depends on orb)
#
gps start

#
# Start the attitude estimator
#
attitude_estimator_ekf start
 
#
# Start position estimator
#
position_estimator_inav start

#
# Start attitude control
#
multirotor_att_control start

#
# Start position control
#
multirotor_pos_control start

#
# Start logging
#
if [ $BOARD == fmuv1 ]
then
	sdlog2 start -r 50 -a -b 16
else
	sdlog2 start -r 200 -a -b 16
fi