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

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

#
# Start sensor drivers here.
#

ms5611 start
adc start

# Mag might be external
if hmc5883 start
then
	echo "[init] Using HMC5883"
fi

if mpu6000 start
then
	echo "[init] Using MPU6000"
fi

if l3gd20 start
then
	echo "[init] Using L3GD20(H)"
fi

if hw_ver compare PX4FMU_V2
then
	if lsm303d start
	then
		echo "[init] Using LSM303D"
	fi
fi

# Start airspeed sensors
if meas_airspeed start
then
	echo "[init] Using MEAS airspeed sensor"
else
	if ets_airspeed start
	then
		echo "[init] Using ETS airspeed sensor (bus 3)"
	else
		if ets_airspeed start -b 1
		then
			echo "[init] Using ETS airspeed sensor (bus 1)"
		fi
	fi
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