#!nsh
#
# Flight startup script for PX4FMU with PWM outputs.
#
 
# disable USB and autostart
set USB no
set MODE custom
 
echo "[init] doing PX4FMU Quad startup 666_fmu_quad_X550..."
 
#
# Start the ORB
#
uorb start
 
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
	param load /fs/microsd/params
fi

#
# 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 /fs/microsd/params
fi

#
# Force some key parameters to sane values
# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
#              see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 2
 
#
# Start MAVLink
#
mavlink start -d /dev/ttyS0 -b 57600
usleep 5000
 
#
# Start the sensors and test them.
#
sh /etc/init.d/rc.sensors
 
#
# Start the commander.
#
commander start

#
# Start GPS interface (depends on orb)
#
gps start
 
#
# Start the attitude estimator
#
attitude_estimator_ekf start
#
# Start the position estimator
#
position_estimator_inav start
 
echo "[init] starting PWM output"
fmu mode_pwm
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
pwm -u 400 -m 0xff
 
#
# Start attitude control
#
multirotor_att_control start

#
# Start position control
#
multirotor_pos_control start

#
# Start logging
#
sdlog2 start -r 50 -a -b 14
 
#
# Start system state
#
if blinkm start
then
	blinkm systemstate
fi