#!nsh

echo "[init] 08_ardrone: PX4FMU on PX4IOAR carrier board"
 
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
	# Set all params here, then disable autoconfig
	param set MC_ATTRATE_D 0
	param set MC_ATTRATE_I 0
	param set MC_ATTRATE_P 0.13
	param set MC_ATT_D 0
	param set MC_ATT_I 0.3
	param set MC_ATT_P 5
	param set MC_YAWPOS_D 0.1
	param set MC_YAWPOS_I 0.15
	param set MC_YAWPOS_P 1
	param set MC_YAWRATE_D 0
	param set MC_YAWRATE_I 0
	param set MC_YAWRATE_P 0.15

	param set SYS_AUTOCONFIG 0
	param save
fi

#
# Force some key parameters to sane values
# MAV_TYPE     2 = quadrotor
#
param set MAV_TYPE 2
param set BAT_V_SCALING 0.008381

#
# Start MAVLink
#
mavlink start -d /dev/ttyS0 -b 57600
usleep 5000

#
# Configure PX4FMU for operation with PX4IOAR
#
fmu mode_gpio_serial
 
#
# Fire up the AR.Drone interface.
#
ardrone_interface start -d /dev/ttyS1
 
#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
 
# Exit, because /dev/ttyS0 is needed for MAVLink
exit