#!nsh
#
# PX4 FMUv4pro specific board init
#
#------------------------------------------------------------------------------
#
# UART mapping on FMUv4pro:
#
# UART1         /dev/ttyS0      TELEM3
# USART2        /dev/ttyS1      TELEM1 (flow control)
# USART3        /dev/ttyS2      TELEM2 (flow control)
# UART4         /dev/ttyS3      TELEM4
# USART6        /dev/ttyS4      TELEM3 (flow control)
# UART7         /dev/ttyS5
# UART8         /dev/ttyS6      CONSOLE
#
#------------------------------------------------------------------------------
#

if [ $AUTOCNF = yes ]
then
	param set SYS_FMU_TASK 1
fi

set LOGGER_BUF 64


# Internal SPI bus ICM-20608-G
mpu6000 -R 2 -T 20608 start

# Internal SPI bus ICM-20602
mpu6000 -R 2 -T 20602 start

# Internal SPI bus mpu9250
mpu9250 -R 2 start

# Internal SPI bus
lis3mdl -R 0 start

# Possible external compasses
hmc5883 -C -T -X start

# RM3100
rm3100 start

px4flow start &