#!nsh

echo "[init] 15_io_tbs: PX4FMU+PX4IO on a Team Blacksheep Discovery quad"

#
# 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     2 = quadrotor
#
param set MAV_TYPE 2
 
#
# Start MAVLink (depends on orb)
#
mavlink start
usleep 5000

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

#
# Set PWM values for DJI ESCs
#
px4io idle 900 900 900 900
px4io min 1180 1180 1180 1180
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

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

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