#!nsh

echo "[init] 02_io_quad_x: PX4FMU+PX4IO Quad X with PWM outputs"

#
# 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 /fs/microsd/params
fi

#
# Force some key parameters to sane values
# MAV_TYPE     2 = quadrotor
#
param set MAV_TYPE 2
 
#
# Start MAVLink
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000

#
# Start and configure PX4IO interface
#
sh /etc/init.d/rc.io

#
# Load mixer
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix

#
# Set PWM output frequency
#
pwm -u 400 -m 0xff

#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor