path: root/ROMFS/scripts/rc.PX4IO

#!nsh

set USB no

#
# Start the object request broker
#
uorb start

#
# Init the EEPROM
#
echo "[init] eeprom"
eeprom start
if [ -f /eeprom/parameters ]
then
	param load
fi

#
# Enable / connect to PX4IO
#
px4io start

#
# Load an appropriate mixer. FMU_pass.mix is a passthru mixer
# which is good for testing. See ROMFS/mixers for a full list of mixers.
#
mixer load /dev/pwm_output /etc/mixers/FMU_pass.mix

#
# Start the sensors.
#
sh /etc/init.d/rc.sensors

#
# Start MAVLink on UART1 (dev/ttyS0) at 57600 baud (CLI is now unusable)
#
mavlink start -d /dev/ttyS0 -b 57600
usleep 5000

#
# Start the commander.
#
commander start

#
# Start the attitude estimator
#
attitude_estimator_ekf start

#
# Start the attitude and position controller
#
fixedwing_att_control start
fixedwing_pos_control start

#
# Start GPS capture. Comment this out if you do not have a GPS.
#
gps start

#
# Start logging to microSD if we can
#	  	
sh /etc/init.d/rc.logging

#
# startup is done; we don't want the shell because we
# use the same UART for telemetry
#
echo "[init] startup done"
exit