From db1fe9f0fa239c47f88148ec344c28ecdca21198 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sun, 29 Sep 2013 19:00:12 +0200
Subject: adding skywalker x5 startup script

---
 ROMFS/px4fmu_common/init.d/32_skywalker_x5 | 86 ++++++++++++++++++++++++++++++
 ROMFS/px4fmu_common/init.d/rcS             |  6 +++
 2 files changed, 92 insertions(+)
 create mode 100644 ROMFS/px4fmu_common/init.d/32_skywalker_x5

(limited to 'ROMFS/px4fmu_common')

diff --git a/ROMFS/px4fmu_common/init.d/32_skywalker_x5 b/ROMFS/px4fmu_common/init.d/32_skywalker_x5
new file mode 100644
index 000000000..432cbb14e
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/32_skywalker_x5
@@ -0,0 +1,86 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 with or without IO on Skywalker X5"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	# TODO
+	
+	param set SYS_AUTOCONFIG 0
+	param save
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing
+#
+param set MAV_TYPE 1
+
+set EXIT_ON_END no
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+
+	commander start
+
+	sh /etc/init.d/rc.io
+	# Limit to 100 Hz updates and (implicit) 50 Hz PWM
+	px4io limit 100
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+
+	commander start
+
+	fmu mode_pwm
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
+ 
+#
+# Start the sensors and test them.
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start logging (depends on sensors)
+#
+sh /etc/init.d/rc.logging
+
+#
+# Start GPS interface (depends on orb)
+#
+gps start
+ 
+#
+# Start the attitude and position estimator
+#
+att_pos_estimator_ekf start
+
+#
+# Load mixer and start controllers (depends on px4io)
+#
+if [ -f /fs/microsd/etc/mixers/FMU_delta.mix ]
+then
+	echo "Using FMU_delta mixer from sd card"
+	mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_delta.mix
+else
+	echo "Using standard FMU_delta mixer"
+	mixer load /dev/pwm_output /etc/mixers/FMU_delta.mix
+fi
+fw_att_control start
+fw_pos_control_l1 start
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 94c01419e..9d0800eb1 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -284,6 +284,12 @@ then
 		sh /etc/init.d/31_io_phantom
 		set MODE custom
 	fi
+	
+	if param compare SYS_AUTOSTART 32
+	then
+		sh /etc/init.d/32_skywalker_x5
+		set MODE custom
+	fi
 
 	if param compare SYS_AUTOSTART 40
 	then
-- 
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