#!/bin/sh
#
# PX4 FMUv5 specific board defaults
#------------------------------------------------------------------------------


if [ $AUTOCNF = yes ]
then
	if ver hwtypecmp V550 V560
	then
		# CUAV V5+ (V550) and V5nano (V560) have 3 IMUs
		# Multi-EKF (IMUs only)
		param set EKF2_MULTI_IMU 3
		param set SENS_IMU_MODE 0
	else
		# Multi-EKF
		param set EKF2_MULTI_IMU 2
		param set SENS_IMU_MODE 0
		param set EKF2_MULTI_MAG 2
		param set SENS_MAG_MODE 0
	fi
fi

# disable px4io on HolyBro mini (V540) and CUAV V5nano (V560)
if ver hwtypecmp V540 V560
then
	param set SYS_USE_IO 0
fi

set LOGGER_BUF 64

rgbled_pwm start
safety_button start