#!nsh

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

#
# 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

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)
#
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
fw_att_control start
fw_pos_control_l1 start

if [ $EXIT_ON_END == yes ]
then
	exit
fi