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|
#!nsh
#
# Standard startup script for PX4FMU onboard sensor drivers.
#
ms5611 start
adc start
if mpu6000 start
then
echo "[init] Using MPU6000"
fi
if l3gd20 start
then
echo "[init] Using L3GD20(H)"
fi
# Use selected (internal/external) magnetometer
if param compare SYS_EXT_MAG 0
then
if hmc5883 -I start
then
echo "[init] Using internal HMC5883"
fi
if ver hwcmp PX4FMU_V2
then
if lsm303d start
then
echo "[init] Using internal LSM303D"
fi
fi
else
if hmc5883 -X start
then
echo "[init] Using external HMC5883"
fi
fi
# Start airspeed sensors
if meas_airspeed start
then
echo "[init] Using MEAS airspeed sensor"
else
if ets_airspeed start
then
echo "[init] Using ETS airspeed sensor (bus 3)"
else
if ets_airspeed start -b 1
then
echo "[init] Using ETS airspeed sensor (bus 1)"
fi
fi
fi
#
# Start the sensor collection task.
# IMPORTANT: this also loads param offsets
# ALWAYS start this task before the
# preflight_check.
#
if sensors start
then
preflight_check &
fi
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