From f53f63b06db26c37ca710da8dd0d7ed87f288464 Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Mon, 3 Sep 2012 01:14:54 -0700
Subject: [PATCH] Example startup script for FMU on a PWM-based X-mode quad

---
 ROMFS/scripts/rc.PX4FMU_quad_x | 37 ++++++++++++++++++++++++++++++++++
 1 file changed, 37 insertions(+)
 create mode 100644 ROMFS/scripts/rc.PX4FMU_quad_x

diff --git a/ROMFS/scripts/rc.PX4FMU_quad_x b/ROMFS/scripts/rc.PX4FMU_quad_x
new file mode 100644
index 0000000000..53c38dd3bb
--- /dev/null
+++ b/ROMFS/scripts/rc.PX4FMU_quad_x
@@ -0,0 +1,37 @@
+#
+# Startup for X-quad on FMU1.5/1.6
+# 
+
+echo "[init] uORB"
+uorb start
+
+echo "[init] eeprom"
+eeprom start
+eeprom load_param /eeprom/parameters
+
+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_bm &
+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