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#!nsh
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#
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# Standard startup script for PX4FMU v1, v2, v3, v4 onboard sensor drivers.
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#
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if ver hwcmp PX4FMU_V1
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then
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if ms5611 start
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then
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fi
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else
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if ver hwcmp AEROFC_V1
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then
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# Aero FC uses separate driver
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else
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if ver hwcmp CRAZYFLIE
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then
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# Crazyflie uses separate driver
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else
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# Configure all I2C buses to 100 KHz as they
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# are all external or slow
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fmu i2c 1 100000
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fmu i2c 2 100000
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fi
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if ver hwcmp PX4FMU_V4
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then
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# We know there are sketchy boards out there
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# as chinese companies produce Pixracers without
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# fully understanding the critical parts of the
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# schematic and BOM, leading to sensor brownouts
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# on boot. Original Pixracers following the
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# open hardware design do not require this.
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fmu sensor_reset 50
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fi
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# External SPI
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if ms5611 -S start
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then
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fi
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# Internal SPI
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if ms5611 -s start
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then
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fi
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# Blacksheep telemetry
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if bst start
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then
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fi
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fi
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fi
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if ver hwcmp AEROFC_V1
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then
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# Aero FC uses separate driver
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else
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if adc start
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then
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fi
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fi
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if ver hwcmp AUAV_X21
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then
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# I2C bus
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if hmc5883 -C -T start
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then
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fi
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# I2C bus
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if lis3mdl start
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then
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fi
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# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
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if mpu6000 -R 2 -T 20602 start
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then
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fi
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# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
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if mpu6000 -R 2 -T 20608 start
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then
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fi
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# Internal SPI bus mpu9250 is rotated 90 deg yaw
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if mpu9250 -R 2 start
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then
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fi
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fi
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if ver hwcmp PX4FMU_V2
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then
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# External I2C bus
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if hmc5883 -C -T -X start
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then
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fi
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# External I2C bus
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if lis3mdl -X start
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then
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fi
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# Internal I2C bus
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if hmc5883 -C -T -I -R 4 start
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then
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fi
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# Internal SPI bus ICM-20608-G
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if mpu6000 -T 20608 start
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then
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fi
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# external MPU6K is rotated 180 degrees yaw
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if mpu6000 -S -R 4 start
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then
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set BOARD_FMUV3 true
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else
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# Check for Pixhawk 2.1 board
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if mpu9250 -S -R 4 start
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then
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set BOARD_FMUV3 true
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else
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set BOARD_FMUV3 false
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fi
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fi
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if [ $BOARD_FMUV3 == true ]
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then
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# sensor heating is available, but we disable it for now
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param set SENS_EN_THERMAL 0
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# external L3GD20H is rotated 180 degrees yaw
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if l3gd20 -X -R 4 start
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then
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fi
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# external LSM303D is rotated 270 degrees yaw
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if lsm303d -X -R 6 start
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then
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fi
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# internal MPU6000 is rotated 180 deg roll, 270 deg yaw
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if mpu6000 -R 14 start
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then
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else
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if mpu9250 -R 14 start
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then
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fi
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fi
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if hmc5883 -C -T -S -R 8 start
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then
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fi
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if meas_airspeed start -b 2
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then
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fi
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else
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# FMUv2
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if mpu6000 start
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then
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fi
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if mpu9250 start
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then
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fi
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if l3gd20 start
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then
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fi
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if lsm303d start
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then
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fi
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fi
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fi
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if ver hwcmp PX4FMU_V4
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then
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# External I2C bus
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#if hmc5883 -C -T -X start
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#then
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#fi
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#if lis3mdl -R 2 start
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#then
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#fi
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# Internal SPI bus is rotated 90 deg yaw
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#if hmc5883 -C -T -S -R 2 start
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#then
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#fi
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# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
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#if mpu6000 -R 2 -T 20608 start
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#then
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#fi
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# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
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#if mpu6000 -R 2 -T 20602 start
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#then
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#fi
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# Start either MPU9250 or BMI160. They are both connected to the same SPI bus and use the same
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# chip select pin. There are different boards with either one of them and the WHO_AM_I register
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# will prevent the incorrect driver from a successful initialization.
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# Internal SPI bus mpu9250 is rotated 90 deg yaw
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#if mpu9250 -R 2 start
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#then
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#fi
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# Internal SPI bus BMI160
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#if bmi160 start
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#then
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#fi
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# Start either ICM2060X or BMI055. They are both connected to the same SPI bus and use the same
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# chip select pin. There are different boards with either one of them and the WHO_AM_I register
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# will prevent the incorrect driver from a successful initialization.
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# Internal SPI bus BMI055_ACC
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if bmi055 -A start
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then
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fi
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# Internal SPI bus BMI055_GYR
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if bmi055 -G start
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then
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fi
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# expansion i2c used for BMM150
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if bmm150 start
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then
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fi
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fi
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if ver hwcmp PX4FMU_V1
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then
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# FMUv1
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if mpu6000 start
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then
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fi
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if l3gd20 start
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then
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fi
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# MAG selection
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if param compare SENS_EXT_MAG 2
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then
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if hmc5883 -C -I start
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then
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fi
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else
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# Use only external as primary
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if param compare SENS_EXT_MAG 1
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then
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if hmc5883 -C -X start
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then
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fi
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else
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# auto-detect the primary, prefer external
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if hmc5883 start
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then
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fi
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fi
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fi
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fi
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if ver hwcmp MINDPX_V2
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then
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# External I2C bus
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if hmc5883 -C -T -X start
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then
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fi
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# Internal I2C bus
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if hmc5883 -C -T -I -R 12 start
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then
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fi
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if mpu6500 -R 8 start
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then
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fi
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if lsm303d -R 10 start
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then
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fi
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if l3gd20 -R 14 start
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then
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fi
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fi
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if ver hwcmp CRAZYFLIE
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then
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# Onboard I2C
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if mpu9250 -R 12 start
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then
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fi
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# I2C bypass of mpu
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if lps25h start
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then
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fi
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fi
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if ver hwcmp AEROFC_V1
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then
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if ms5611 -T 0 start
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then
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fi
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if mpu9250 -s -R 14 start
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then
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fi
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# Possible external compasses
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if hmc5883 -X start
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then
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fi
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if ist8310 -C -b 1 -R 4 start
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then
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fi
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if aerofc_adc start
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then
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fi
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if ll40ls start i2c
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then
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fi
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fi
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if ver hwcmp PX4FMU_V4PRO
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then
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# Internal SPI bus ICM-20608-G
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if mpu6000 -R 2 -T 20608 start
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then
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fi
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# Internal SPI bus mpu9250
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if mpu9250 -R 2 start
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then
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fi
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# Internal SPI bus
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if lis3mdl -R 0 start
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then
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fi
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# Possible external compasses
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if hmc5883 -X start
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then
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fi
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fi
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if ver hwcmp PX4FMU_V5
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then
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# Internal SPI bus ICM-20602
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if mpu6000 -R 8 -s -T 20602 start
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then
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fi
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# Internal SPI bus ICM-20689
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if mpu6000 -R 8 -z -T 20689 start
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then
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fi
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# Internal SPI bus BMI055
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# Place holder Need BMI055 Support added
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if bmi055 -R 2 start
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then
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fi
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# Possible external compasses
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if hmc5883 -X start
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then
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fi
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# Possible external airspeed sensor
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if meas_airspeed start -b 2
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then
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fi
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fi
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if ver hwcmp AEROCORE2
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then
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l3gd20 -R 12 start
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lsm303d start
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fi
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if meas_airspeed start
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then
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else
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if ets_airspeed start
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then
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else
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if ets_airspeed start -b 1
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then
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fi
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fi
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fi
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# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
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usleep 20000
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if sensors start
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then
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fi
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