#!nsh

echo "[init] PX4FMU v1, v2 init to log only

#
# 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 save
fi

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

	commander start

	sh /etc/init.d/rc.io
	# Set PWM values for DJI ESCs
else
	# Start MAVLink (on UART1 / ttyS0)
	mavlink start -d /dev/ttyS0
	usleep 5000
	param set BAT_V_SCALING 0.004593
	set EXIT_ON_END yes
fi

sh /etc/init.d/rc.sensors

gps start

attitude_estimator_ekf start

position_estimator_inav start

if [ -d /fs/microsd ]
then
	if [ $BOARD == fmuv1 ]
	then
		sdlog2 start -r 50 -e -b 16
	else
		sdlog2 start -r 200 -e -b 16
	fi
fi