#!/bin/sh
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
. px4-alias.sh

# navio config for FW

uorb start
param load
param set MAV_BROADCAST 1
param set SYS_AUTOSTART 2100
param set MAV_TYPE 1

param set BAT_CNT_V_VOLT 0.001
param set BAT_V_DIV 10.9176300578
param set BAT_CNT_V_CURR 0.001
param set BAT_A_PER_V 15.391030303

dataman start

df_lsm9ds1_wrapper start -R 4
df_ms5611_wrapper start
navio_rgbled start
navio_adc start
gps start -d /dev/spidev0.0 -i spi -p ubx
ms4525_airspeed start
rc_update start
sensors start
commander start
navigator start
ekf2 start
fw_att_control start
fw_pos_control_l1 start

mavlink start -x -u 14556 -r 1000000
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 20
mavlink stream -u 14556 -s ATTITUDE -r 20
mavlink stream -u 14556 -s MANUAL_CONTROL -r 10

navio_sysfs_rc_in start
linux_pwm_out start -m ROMFS/px4fmu_common/mixers/AETRFG.main.mix

logger start -t -b 200
mavlink boot_complete