#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
 
# disable USB and autostart
set USB no
set MODE custom

#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
	# Set all params here, then disable autoconfig
	param set SYS_AUTOCONFIG 0

	param set MC_ATTRATE_D	         0.007
	param set MC_ATTRATE_I	         0.0
	param set MC_ATTRATE_P	         0.13
	param set MC_ATT_D	         0.0
	param set MC_ATT_I	         0.0
	param set MC_ATT_P	         7.0
	param set MC_POS_P	         0.1
	param set MC_RCLOSS_THR	         0.0
	param set MC_YAWPOS_D	         0.0
	param set MC_YAWPOS_I	         0.5
	param set MC_YAWPOS_P	         1.0
	param set MC_YAWRATE_D	         0.0
	param set MC_YAWRATE_I	         0.0
	param set MC_YAWRATE_P	         0.2

	param save /fs/microsd/params
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 2
 
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io2.bin ]
then
	echo "PX4IO Firmware found. Checking Upgrade.."
	if cmp /fs/microsd/px4io2.bin /fs/microsd/px4io2.cur
	then
		echo "No newer version, skipping upgrade."
	else
		echo "Loading /fs/microsd/px4io2.bin"
		if px4io update /fs/microsd/px4io2.bin > /fs/microsd/px4io2.log
		then
			cp /fs/microsd/px4io2.bin /fs/microsd/px4io2.cur
			echo "Flashed /fs/microsd/px4io2.bin OK" >> /fs/microsd/px4io2.log
		else
			echo "Failed flashing /fs/microsd/px4io2.bin" >> /fs/microsd/px4io2.log
			echo "Failed to upgrade PX4IO2 firmware - check if PX4IO2 is in bootloader mode"
		fi
	fi
fi
 
#
# Start MAVLink (depends on orb)
#
mavlink start
usleep 5000
 
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
pwm -u 400 -m 0xff
 
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery

#
# Disable px4io topic limiting
#
px4io limit 200

#
# This sets a PWM right after startup (regardless of safety button)
#
px4io idle 900 900 900 900

#
# The values are for spinning motors when armed using DJI ESCs
#
px4io min 1200 1200 1200 1200

#
# Upper limits could be higher, this is on the safe side
#
px4io max 1800 1800 1800 1800
 
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors

#
# Start the commander (depends on orb, mavlink)
#
commander start
 
#
# Start GPS interface (depends on orb)
#
gps start
 
#
# Start the attitude estimator (depends on orb)
#
attitude_estimator_ekf start
 
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
multirotor_att_control start
 
#
# Start logging
#
sdlog2 start -r 20 -a -b 14
 
#
# Start system state
#
if blinkm start
then
	blinkm systemstate
fi