#
# Startup for X-quad on FMU1.5/1.6
# 

echo "[init] uORB"
uorb start

echo "[init] eeprom"
eeprom start
if [ -f /eeprom/parameters ]
then
	param load
fi

echo "[init] sensors"
#bma180 start
#l3gd20 start
mpu6000 start
hmc5883 start
ms5611 start

sensors start

echo "[init] mavlink"
mavlink start -d /dev/ttyS0 -b 57600
usleep 5000

echo "[init] commander"
commander start

echo "[init] attitude control"
attitude_estimator_ekf start
multirotor_att_control start

echo "[init] starting PWM output"
fmu mode_pwm
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix

echo "[init] startup done, exiting"
exit