#!nsh

#
# 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 0.002
	param set MC_ATTRATE_I 0.0
	param set MC_ATTRATE_P 0.09
	param set MC_ATT_D 0.0
	param set MC_ATT_I 0.0
	param set MC_ATT_P 6.8
	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 set NAV_TAKEOFF_ALT 3.0
	param set MPC_TILT_MAX 0.5
	param set MPC_THR_MAX 0.7
	param set MPC_THR_MIN 0.3
	param set MPC_XY_D 0
	param set MPC_XY_P 0.5
	param set MPC_XY_VEL_D 0
	param set MPC_XY_VEL_I 0
	param set MPC_XY_VEL_MAX 3
	param set MPC_XY_VEL_P 0.2
	param set MPC_Z_D 0
	param set MPC_Z_P 1
	param set MPC_Z_VEL_D 0
	param set MPC_Z_VEL_I 0.1
	param set MPC_Z_VEL_MAX 2
	param set MPC_Z_VEL_P 0.20

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

set EXIT_ON_END no

#
# Start the Mikrokopter ESC driver
#
if [ $MKBLCTRL_MODE == yes ]
then
    if [ $MKBLCTRL_FRAME == x ]
    then
        echo "[init] PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame Mikrokopter-Addressing"
        mkblctrl -mkmode x
    else
        echo "[init] PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame Mikrokopter-Addressing"
        mkblctrl -mkmode +
    fi
else
    if [ $MKBLCTRL_FRAME == x ]
    then
        echo "[init] PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame"
    else
        echo "[init] PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame"
    fi
    mkblctrl
fi

usleep 10000

#
# 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
#
if [ $MKBLCTRL_FRAME == x ]
then
    mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
else
    mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
fi

#
# Set disarmed, min and max PWM signals
#
pwm disarmed -c 1234 -p 900
pwm min -c 1234 -p 1200
pwm max -c 1234 -p 1800

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

if [ $EXIT_ON_END == yes ]
then
	exit
fi