#!nsh
#
# Flight startup script for PX4FMU+PX4IO on an F330 quad.
#

#
# Start the ORB (first app to start)
#
uorb start

#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
	# Set all params here, then disable autoconfig
	param set SYS_AUTOCONFIG 0

	param set MC_ATTRATE_D	         0.004
	param set MC_ATTRATE_I	         0.0
	param set MC_ATTRATE_P	         0.12
	param set MC_ATT_D	         0.0
	param set MC_ATT_I	         0.0
	param set MC_ATT_P	         7.0
	param set MC_RCLOSS_THR	         0.0
	param set MC_YAWPOS_D	         0.0
	param set MC_YAWPOS_I	         0.0
	param set MC_YAWPOS_P	         2.0
	param set MC_YAWRATE_D	         0.005
	param set MC_YAWRATE_I	         0.2
	param set MC_YAWRATE_P	         0.3

	param save /fs/microsd/params
fi
 
#
# Force some key parameters to sane values
# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
#              see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 2
 
#
# Start MAVLink (depends on orb)
#
mavlink start
usleep 5000

#
# Start the commander (depends on orb, mavlink)
#
commander start

#
# Start PX4IO interface (depends on orb, commander)
#
if px4io start
then
	#
	# This sets a PWM right after startup (regardless of safety button)
	#
	px4io idle 900 900 900 900

	pwm -u 400 -m 0xff

	#
	# Allow PX4IO to recover from midair restarts.
	# this is very unlikely, but quite safe and robust.
	px4io recovery



	#
	# The values are for spinning motors when armed using DJI ESCs
	#
	px4io min 1200 1200 1200 1200

	#
	# Upper limits could be higher, this is on the safe side
	#
	px4io max 1800 1800 1800 1800

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

else
	# SOS
	tone_alarm 6
fi
 
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
 
#
# Start GPS interface (depends on orb)
#
gps start
 
#
# Start the attitude estimator (depends on orb)
#
attitude_estimator_ekf start

multirotor_att_control start

#
# Disable px4io topic limiting and start logging
#
if [ $BOARD == fmuv1 ]
then
	px4io limit 200
	sdlog2 start -r 50 -a -b 16
else
	px4io limit 400
	sdlog2 start -r 200 -a -b 16
fi