#!nsh
#
# PX4FMU startup script.

#
# Default to auto-start mode.  An init script on the microSD card
# can change this to prevent automatic startup of the flight script.
#
set MODE autostart

set logfile /fs/microsd/bootlog.txt

#
# Try to mount the microSD card.
#
echo "[init] looking for microSD..."
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
	echo "[init] card mounted at /fs/microsd"
	# Start playing the startup tune
	tone_alarm start
else
	echo "[init] no microSD card found"
	# Play SOS
	tone_alarm error
fi

#
# Look for an init script on the microSD card.
#
# To prevent automatic startup in the current flight mode,
# the script should set MODE to some other value.
#
if [ -f /fs/microsd/etc/rc ]
then
	echo "[init] reading /fs/microsd/etc/rc"
	sh /fs/microsd/etc/rc
fi
# Also consider rc.txt files
if [ -f /fs/microsd/etc/rc.txt ]
then
	echo "[init] reading /fs/microsd/etc/rc.txt"
	sh /fs/microsd/etc/rc.txt
fi

# if this is an APM build then there will be a rc.APM script
# from an EXTERNAL_SCRIPTS build option
if [ -f /etc/init.d/rc.APM ]
then
	if sercon
	then
		echo "[init] USB interface connected"
	fi

	echo "Running rc.APM"
	# if APM startup is successful then nsh will exit
	sh /etc/init.d/rc.APM
fi

if [ $MODE == autostart ]
then
	#
	# Start terminal
	#
	if sercon
	then
		echo "USB connected"
	fi
	
	#
	# Start the ORB (first app to start)
	#
	uorb start
	
	#
	# Load microSD params
	#
	#if ramtron start
	#then
	#	param select /ramtron/params
	#	if [ -f /ramtron/params ]
	#	then
	#		param load /ramtron/params
	#	fi
	#else
		param select /fs/microsd/params
		if [ -f /fs/microsd/params ]
		then
			if param load /fs/microsd/params
			then
				echo "Parameters loaded"
			else
				echo "Parameter file corrupt - ignoring"
			fi
		fi
	#fi
	
	#
	# Start system state indicator
	#
	if rgbled start
	then
		echo "Using external RGB Led"
	else
		if blinkm start
		then
			blinkm systemstate
		fi
	fi
	
	#
	# Start the Commander (needs to be this early for in-air-restarts)
	#
	commander start

	#
	# Start the Navigator
	#
	navigator start

	if param compare SYS_AUTOSTART 1000
	then
		sh /etc/init.d/1000_rc_fw_easystar.hil		
		set MODE custom
	fi
	
	if param compare SYS_AUTOSTART 1001
	then
		sh /etc/init.d/1001_rc_quad.hil
		set MODE custom
	fi
	
	if param compare SYS_AUTOSTART 1002
	then
		sh /etc/init.d/1002_rc_fw_state.hil
		set MODE custom
	fi
	
	if param compare SYS_AUTOSTART 1003
	then
		sh /etc/init.d/1003_rc_quad_+.hil
		set MODE custom
	fi

	if param compare SYS_AUTOSTART 1004
	then
		sh /etc/init.d/1004_rc_fw_Rascal110.hil
		set MODE custom
	fi
	
	if [ $MODE != custom ]
	then
		# Try to get an USB console
		nshterm /dev/ttyACM0 &
	fi

	#
	# Upgrade PX4IO firmware
	#

	if [ -f /etc/extras/px4io-v2_default.bin ]
	then
		set io_file /etc/extras/px4io-v2_default.bin
	else
		set io_file /etc/extras/px4io-v1_default.bin
	fi

	if px4io start
	then
		echo "PX4IO OK"
		echo "PX4IO OK" >> $logfile
	fi
	
	if px4io checkcrc $io_file
	then
		echo "PX4IO CRC OK"
		echo "PX4IO CRC OK" >> $logfile
	else
		echo "PX4IO CRC failure"
		echo "PX4IO CRC failure" >> $logfile
		tone_alarm MBABGP
		if px4io forceupdate 14662 $io_file
		then
			usleep 200000
			if px4io start
			then
				echo "PX4IO restart OK"
				echo "PX4IO restart OK" >> $logfile
				tone_alarm MSPAA
			else
				echo "PX4IO restart failed"
				echo "PX4IO restart failed" >> $logfile
				tone_alarm MNGGG
				sh /etc/init.d/rc.error
			fi
		else
			echo "PX4IO update failed"
			echo "PX4IO update failed" >> $logfile
			tone_alarm MNGGG
		fi
	fi
	
	#
	# Check if auto-setup from one of the standard scripts is wanted
	# SYS_AUTOSTART = 0 means no autostart (default)
	#
	
	if param compare SYS_AUTOSTART 8
	then
		sh /etc/init.d/08_ardrone
		set MODE custom
	fi
	
	if param compare SYS_AUTOSTART 9
	then
		sh /etc/init.d/09_ardrone_flow
		set MODE custom
	fi
	
	if param compare SYS_AUTOSTART 10
	then
		sh /etc/init.d/10_dji_f330
		set MODE custom
	fi

	if param compare SYS_AUTOSTART 11
	then
		sh /etc/init.d/11_dji_f450
		set MODE custom
	fi

	if param compare SYS_AUTOSTART 12
	then
		set MIXER /etc/mixers/FMU_hex_x.mix
		sh /etc/init.d/12-13_hex
		set MODE custom
	fi

	if param compare SYS_AUTOSTART 13
	then
		set MIXER /etc/mixers/FMU_hex_+.mix
		sh /etc/init.d/12-13_hex
		set MODE custom
	fi
	
	if param compare SYS_AUTOSTART 15
	then
		sh /etc/init.d/15_tbs_discovery
		set MODE custom
	fi

	if param compare SYS_AUTOSTART 16
	then
		sh /etc/init.d/16_3dr_iris
		set MODE custom
	fi

	# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame
	if param compare SYS_AUTOSTART 17
	then
		set MKBLCTRL_MODE no
		set MKBLCTRL_FRAME x
		sh /etc/init.d/rc.custom_dji_f330_mkblctrl
		set MODE custom
	fi

	# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame
	if param compare SYS_AUTOSTART 18
	then
		set MKBLCTRL_MODE no
		set MKBLCTRL_FRAME +
		sh /etc/init.d/rc.custom_dji_f330_mkblctrl
		set MODE custom
	fi

	# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame Mikrokopter-Addressing
	if param compare SYS_AUTOSTART 19
	then
		set MKBLCTRL_MODE yes
		set MKBLCTRL_FRAME x
		sh /etc/init.d/rc.custom_dji_f330_mkblctrl
		set MODE custom
	fi

	# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame Mikrokopter-Addressing
	if param compare SYS_AUTOSTART 20
	then
		set MKBLCTRL_MODE yes
		set MKBLCTRL_FRAME +
		sh /etc/init.d/rc.custom_dji_f330_mkblctrl
		set MODE custom
	fi

	# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
	if param compare SYS_AUTOSTART 21
	then
		set FRAME_GEOMETRY x
		set ESC_MAKER afro
		sh /etc/init.d/rc.custom_io_esc
		set MODE custom
	fi

	# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
	if param compare SYS_AUTOSTART 22
	then
		set FRAME_GEOMETRY w
		sh /etc/init.d/rc.custom_io_esc
		set MODE custom
	fi
	
	if param compare SYS_AUTOSTART 30
	then
		sh /etc/init.d/30_io_camflyer
		set MODE custom
	fi

	if param compare SYS_AUTOSTART 31
	then
		sh /etc/init.d/31_io_phantom
		set MODE custom
	fi
	
	if param compare SYS_AUTOSTART 32
	then
		sh /etc/init.d/32_skywalker_x5
		set MODE custom
	fi

	if param compare SYS_AUTOSTART 40
	then
		sh /etc/init.d/40_io_segway
		set MODE custom
	fi
	
	if param compare SYS_AUTOSTART 100
	then
		sh /etc/init.d/100_mpx_easystar
		set MODE custom
	fi

	if param compare SYS_AUTOSTART 101
	then
		sh /etc/init.d/101_hk_bixler
		set MODE custom
	fi

	if param compare SYS_AUTOSTART 102
	then
		sh /etc/init.d/102_3dr_skywalker
		set MODE custom
	fi
	
	# Start any custom extensions that might be missing
	if [ -f /fs/microsd/etc/rc.local ]
	then
		sh /fs/microsd/etc/rc.local
	fi
	
	# If none of the autostart scripts triggered, get a minimal setup
	if [ $MODE == autostart ]
	then
		# Telemetry port is on both FMU boards ttyS1
		# but the AR.Drone motors can be get 'flashed'
		# if starting MAVLink on them - so do not
		# start it as default (default link: USB)
	
		# Start commander
		commander start
	
		# Start px4io if present
		if px4io detect
		then
			px4io start
		else
			if fmu mode_serial
			then
				echo "FMU driver (no PWM) started"
			fi
		fi
	
		# Start sensors
		sh /etc/init.d/rc.sensors
	
		# Start one of the estimators
		attitude_estimator_ekf start
	
		# Start GPS
		gps start
	
	fi

# End of autostart
fi