1 files changed, 40 insertions, 0 deletions
diff --git a/ROMFS/scripts/rc.FMU_quad_x b/ROMFS/scripts/rc.FMU_quad_x
new file mode 100644
index 000000000..d9c9a8457
--- /dev/null
+++ b/ROMFS/scripts/rc.FMU_quad_x
@@ -0,0 +1,40 @@
+#
+# Startup for X-quad on FMU1.5/1.6
+# 
+
+echo "[init] uORB"
+uorb start
+
+echo "[init] eeprom"
+eeprom start
+if [ -f /eeprom/parameters ]
+then
+	param load
+fi
+
+echo "[init] sensors"
+#bma180 start
+#l3gd20 start
+mpu6000 start
+hmc5883 start
+ms5611 start
+
+sensors start
+
+echo "[init] mavlink"
+mavlink start -d /dev/ttyS0 -b 57600
+usleep 5000
+
+echo "[init] commander"
+commander start
+
+echo "[init] attitude control"
+attitude_estimator_ekf start
+multirotor_att_control start
+
+echo "[init] starting PWM output"
+fmu mode_pwm
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+
+echo "[init] startup done, exiting"
+exit