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

#!nsh
#
# Standard startup script for PX4FMU onboard sensor drivers.
#

#
# Start sensor drivers here.
#

#
# Check for UORB
#
if uorb start
then
	echo "uORB started"
fi

ms5611 start
adc start

# mag might be external
hmc5883 start

if mpu6000 start
then
	echo "using MPU6000"
	set BOARD fmuv1
else
	echo "using L3GD20 and LSM303D"
	l3gd20 start
	lsm303d start
	set BOARD fmuv2
fi

#
# Start the sensor collection task.
# IMPORTANT: this also loads param offsets
# ALWAYS start this task before the
# preflight_check.
#
if sensors start
then
	preflight_check &
fi