#!nsh

echo "[init] 666_fmu_q_x550: PX4FMU Quad X550 with or without IO"

#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
	# Set all params here, then disable autoconfig
	param set MC_ATTRATE_P 0.14
	param set MC_ATTRATE_I 0
	param set MC_ATTRATE_D 0.006
	param set MC_ATT_P 5.5
	param set MC_ATT_I 0
	param set MC_ATT_D 0
	param set MC_YAWPOS_D 0
	param set MC_YAWPOS_I 0
	param set MC_YAWPOS_P 0.6
	param set MC_YAWRATE_D 0
	param set MC_YAWRATE_I 0
	param set MC_YAWRATE_P 0.08
	param set RC_SCALE_PITCH 1
	param set RC_SCALE_ROLL 1
	param set RC_SCALE_YAW 3

	param set SYS_AUTOCONFIG 0
	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
#
pwm disarmed -c 1234 -p 900
pwm min -c 1234 -p 1100
pwm max -c 1234 -p 1900

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