#!nsh

echo "[init] PX4FMU v1, v2 with or without IO on EasyStar"

#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
	# Set all params here, then disable autoconfig
	param set FW_P_D 0
	param set FW_P_I 0
	param set FW_P_IMAX 15
	param set FW_P_LIM_MAX 50
	param set FW_P_LIM_MIN -50
	param set FW_P_P 60
	param set FW_P_RMAX_NEG 0
	param set FW_P_RMAX_POS 0
	param set FW_P_ROLLFF 1.1
	param set FW_R_D 0
	param set FW_R_I 5
	param set FW_R_IMAX 20
	param set FW_R_P 100
	param set FW_R_RMAX 100
	param set FW_THR_CRUISE 0.65
	param set FW_THR_MAX 1
	param set FW_THR_MIN 0
	param set FW_T_SINK_MAX 5.0
	param set FW_T_SINK_MIN 4.0
	param set FW_Y_ROLLFF 1.1
	param set FW_L1_PERIOD 16
	
	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_RET.mix ]
then
	echo "Using FMU_RET mixer from sd card"
	mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_RET.mix
else
	echo "Using standard FMU_RET mixer"
	mixer load /dev/pwm_output /etc/mixers/FMU_RET.mix
fi
fw_att_control start
# Not ready yet for prime-time
#fw_pos_control_l1 start

if [ $EXIT_ON_END == yes ]
then
	exit
fi