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#!nsh
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echo "[init] PX4FMU v1, v2 init to log only
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#
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# Load default params for this platform
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#
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if param compare SYS_AUTOCONFIG 1
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then
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# Set all params here, then disable autoconfig
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param set SYS_AUTOCONFIG 0
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param save
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fi
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#
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# Start and configure PX4IO or FMU interface
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#
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if px4io detect
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then
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# Start MAVLink (depends on orb)
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mavlink start
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usleep 5000
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sh /etc/init.d/rc.io
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# Set PWM values for DJI ESCs
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else
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# Start MAVLink (on UART1 / ttyS0)
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mavlink start -d /dev/ttyS0
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usleep 5000
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param set BAT_V_SCALING 0.004593
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set EXIT_ON_END yes
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fi
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sh /etc/init.d/rc.sensors
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gps start
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attitude_estimator_ekf start
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position_estimator_inav start
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if [ -d /fs/microsd ]
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then
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if hw_ver compare PX4FMU_V1
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then
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echo "Start sdlog2 at 50Hz"
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sdlog2 start -r 50 -e -b 16
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else
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echo "Start sdlog2 at 200Hz"
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sdlog2 start -r 200 -e -b 16
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fi
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fi
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