#!nsh
 
# Disable USB and autostart
set USB no
set MODE camflyer
 
#
# Start the ORB
#
uorb start
 
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/parameters
if [ -f /fs/microsd/parameters ]
then
	param load /fs/microsd/parameters
fi
 
#
# Force some key parameters to sane values
# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
#              see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 1
 
#
# Start the sensors.
#
sh /etc/init.d/rc.sensors
 
#
# Start MAVLink
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
 
#
# Start the commander.
#
commander start
 
#
# Start GPS interface
#
gps start
 
#
# Start the attitude estimator
#
kalman_demo start
 
#
# Start PX4IO interface
#
px4io start
 
#
# Load mixer and start controllers
#
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
control_demo start
 
#
# Start logging
#
sdlog start -s 10

#
# Start system state
#
if blinkm start
then
	echo "using BlinkM for state indication"
	blinkm systemstate
else
	echo "no BlinkM found, OK."
fi