#!nsh
#
# UAVCAN initialization script.
#

if param compare UAVCAN_ENABLE 1
then
	if uavcan start
	then
		# First sensor publisher to initialize takes lowest instance ID
		# This delay ensures that UAVCAN-interfaced sensors would be allocated on lowest instance IDs
		sleep 1
		echo "[i] UAVCAN started"
	else
		echo "[i] ERROR: Could not start UAVCAN"
		tone_alarm $TUNE_ERR
	fi
fi