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#
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# Startup for X-quad on FMU1.5/1.6
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#
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echo "[init] uORB"
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uorb start
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echo "[init] eeprom"
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eeprom start
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if [ -f /eeprom/parameters ]
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then
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param load
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fi
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echo "[init] sensors"
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#bma180 start
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#l3gd20 start
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mpu6000 start
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hmc5883 start
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ms5611 start
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sensors start
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echo "[init] mavlink"
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mavlink start -d /dev/ttyS0 -b 57600
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usleep 5000
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echo "[init] commander"
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commander start
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echo "[init] attitude control"
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attitude_estimator_bm &
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multirotor_att_control start
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echo "[init] starting PWM output"
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fmu mode_pwm
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
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echo "[init] startup done, exiting"
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exit
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