#!/bin/sh
# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
set +e
# Un comment the line below to help debug scripts by printing a trace of the script commands
#set -x
# PX4FMU startup script.
#
# NOTE: environment variable references:
#    If the dollar sign ('$') is followed by a left bracket ('{') then the
#    variable name is terminated with the right bracket character ('}').
#    Otherwise, the variable name goes to the end of the argument.
#
#
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
#
#------------------------------------------------------------------------------
set R /

#
# Start CDC/ACM serial driver.
#
sercon

#
# Print full system version.
#
ver all

#
# Set the parameter file the board supports params on
# MTD device.
#
if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
then
	set PARAM_FILE /fs/mtd_params
fi

#
# Load parameters.
#
# if the board has a storage for (factory) calibration data
if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
then
	param load /fs/mtd_caldata
fi

#
# Load parameters.
#
param select $PARAM_FILE
if ! param load
then
	param reset_all
fi

#
# board mavlink: rc.mavlink
#
set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink
if [ -f $BOARD_RC_MAVLINK ]
then
	echo "Board sensors: ${BOARD_RC_MAVLINK}"
	. $BOARD_RC_MAVLINK
fi
unset BOARD_RC_MAVLINK

unset R

mavlink boot_complete

echo ""
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
echo "!!!!!!     This is the RECOVERY firmware! WARNs and ERRORs are expected!      !!!!!"
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
echo ""