#!nsh

echo "[init] 31_io_phantom: PX4FMU+PX4IO on Phantom"

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

#
# Start MAVLink (depends on orb)
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000

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

#
# Set actuator limit to 100 Hz update (50 Hz PWM)
px4io limit 100
 
#
# Start the commander
#
commander start
 
#
# Start the sensors
#
sh /etc/init.d/rc.sensors

#
# Start logging (depends on sensors)
#
sh /etc/init.d/rc.logging
 
#
# Start GPS interface
#
gps start
 
#
# Start the attitude and position estimator
#
att_pos_estimator_ekf start
 
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
fw_att_control start
fw_pos_control_l1 start