#!nsh

echo "[init] PX4FMU v1, v2 with or without IO on DJI F450"

#
# 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 0.004
	param set MC_ATTRATE_I 0.0
	param set MC_ATTRATE_P 0.12
	param set MC_ATT_D 0.0
	param set MC_ATT_I 0.0
	param set MC_ATT_P 7.0
	param set MC_YAWPOS_D 0.0
	param set MC_YAWPOS_I 0.0
	param set MC_YAWPOS_P 2.0
	param set MC_YAWRATE_D 0.005
	param set MC_YAWRATE_I 0.2
	param set MC_YAWRATE_P 0.3

	param save
fi
 
#
# Force some key parameters to sane values
# MAV_TYPE     2 = quadrotor
#
param set MAV_TYPE 2

#
# Start and configure PX4IO or FMU interface
#
if px4io detect
then
	# Start MAVLink (depends on orb)
	mavlink start
	usleep 5000

	sh /etc/init.d/rc.io
else
	# Start MAVLink (on UART1 / ttyS0)
	mavlink start -d /dev/ttyS0
	usleep 5000
	fmu mode_pwm
	param set BAT_V_SCALING 0.004593
	set EXIT_ON_END yes
fi

#
# Load mixer
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix

#
# Set PWM output frequency
#
pwm rate -c 1234 -r 400

#
# Set disarmed, min and max PWM signals (for DJI ESCs)
#
pwm disarmed -c 1234 -p 900
pwm min -c 1234 -p 1200
pwm max -c 1234 -p 1800

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