#!nsh

echo "[init] 09_ardrone_flow: PX4FMU on PX4IOAR carrier board with PX4FLOW"

#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
	# Set all params here, then disable autoconfig
	param set MC_ATTRATE_D 0
	param set MC_ATTRATE_I 0
	param set MC_ATTRATE_P 0.13
	param set MC_ATT_D 0
	param set MC_ATT_I 0.3
	param set MC_ATT_P 5
	param set MC_YAWPOS_D 0.1
	param set MC_YAWPOS_I 0.15
	param set MC_YAWPOS_P 1
	param set MC_YAWRATE_D 0
	param set MC_YAWRATE_I 0
	param set MC_YAWRATE_P 0.15

	param set SYS_AUTOCONFIG 0
	param save
fi

#
# Force some key parameters to sane values
# MAV_TYPE     2 = quadrotor
#
param set MAV_TYPE 2
param set BAT_V_SCALING 0.008381

#
# Start MAVLink and MAVLink Onboard (PX4FLOW Sensor)
#
mavlink start -d /dev/ttyS0 -b 57600
mavlink_onboard start -d /dev/ttyS3 -b 115200
usleep 5000

#
# Configure PX4FMU for operation with PX4IOAR
#
fmu mode_gpio_serial

#
# Fire up the AR.Drone interface.
#
ardrone_interface start -d /dev/ttyS1
 
#
# Start the sensors.
#
sh /etc/init.d/rc.sensors

#
# Start the attitude estimator
#
attitude_estimator_ekf start

#
# Start the position estimator
#
flow_position_estimator start

#
# Fire up the multi rotor attitude controller
#
multirotor_att_control start

#
# Fire up the flow position controller
#
flow_position_control start

#
# Fire up the flow speed controller
#
flow_speed_control start
 
# Exit, because /dev/ttyS0 is needed for MAVLink
exit