#!nsh
#
# Flight startup script for PX4FMU+PX4IO on a Team Blacksheep Discovery quad
# with stock DJI ESCs, motors and props.
#
 
# disable USB and autostart
set USB no
set MODE custom

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

#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
	param load /fs/microsd/params
fi

#
# 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	         0.006
	param set MC_ATTRATE_I	         0.0
	param set MC_ATTRATE_P	         0.17
	param set MC_ATT_D	         0.0
	param set MC_ATT_I	         0.0
	param set MC_ATT_P	         5.0
	param set MC_RCLOSS_THR	         0.0
	param set MC_YAWPOS_D	         0.0
	param set MC_YAWPOS_I	         0.15
	param set MC_YAWPOS_P	         0.5
	param set MC_YAWRATE_D	         0.0
	param set MC_YAWRATE_I	         0.0
	param set MC_YAWRATE_P	         0.2

	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)
#
px4io start
pwm -u 400 -m 0xff
 
#
# Allow PX4IO to recover from midair restarts.
# This is very unlikely, but quite safe and robust.
px4io recovery

#
# This sets a PWM right after startup (regardless of safety button)
#
px4io idle 900 900 900 900

#
# The values are for spinning motors when armed using DJI ESCs
#
px4io min 1180 1180 1180 1180

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

#
# Load the mixer for a quad with wide arms
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
 
#
# 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

#
# Start the controllers (depends on orb)
#
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
	if blinkm start
	then
		blinkm systemstate
	fi
else
	px4io limit 400
	sdlog2 start -r 200 -a -b 16
	if rgbled start
	then
		#rgbled systemstate
	fi
fi