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#!nsh
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echo "[init] 31_io_phantom: PX4FMU+PX4IO on Phantom"
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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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# TODO
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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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# Force some key parameters to sane values
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# MAV_TYPE 1 = fixed wing
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#
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param set MAV_TYPE 1
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#
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# Start MAVLink (depends on orb)
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#
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mavlink start -d /dev/ttyS1 -b 57600
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usleep 5000
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#
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# Start and configure PX4IO interface
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#
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sh /etc/init.d/rc.io
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#
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# Set actuator limit to 100 Hz update (50 Hz PWM)
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px4io limit 100
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#
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# Start the commander
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#
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commander start
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#
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# Start the sensors
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#
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sh /etc/init.d/rc.sensors
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#
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# Start logging (depends on sensors)
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#
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sh /etc/init.d/rc.logging
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#
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# Start GPS interface
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#
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gps start
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#
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# Start the attitude estimator
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#
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kalman_demo start
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#
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# Load mixer and start controllers (depends on px4io)
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#
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mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
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fw_att_control start
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