#!nsh
#
# Flight startup script for PX4FMU with PX4IO carrier board.
#

echo "[init] doing PX4IO startup..."

#
# Start the ORB
#
uorb start

#
# Start the sensors.
#
sh /etc/init.d/rc.sensors

#
# Start MAVLink
#
mavlink -d /dev/ttyS0 -b 57600 &

#
# Start the commander.
#
# XXX this should be '<command> start'.
#
commander &

#
# Start the attitude estimator
#
# XXX this should be '<command> start'.
#
attitude_estimator_bm &
#position_estimator &

#
# Configure PX4FMU for operation with PX4IO
#
# XXX arguments?
#
px4fmu start

#
# Start the fixed-wing controller
#
# XXX this should be '<command> start'.
#
fixedwing_control &

#
# Fire up the PX4IO interface.
#
px4io start

#
# Start looking for a GPS.
#
# XXX this should not need to be backgrounded
#
gps -d /dev/ttyS3 -m all &

#
# Start logging to microSD if we can
#
sh /etc/init.d/rc.logging

#
# startup is done; we don't want the shell because we
# use the same UART for telemetry (dumb).
#
echo "[init] startup done, exiting."
exit