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40 lines
609 B
40 lines
609 B
# |
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# Startup for X-quad on FMU1.5/1.6 |
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# |
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echo "[init] uORB" |
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uorb start |
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echo "[init] eeprom" |
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eeprom start |
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if [ -f /eeprom/parameters ] |
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then |
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param load |
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fi |
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echo "[init] sensors" |
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#bma180 start |
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#l3gd20 start |
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mpu6000 start |
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hmc5883 start |
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ms5611 start |
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sensors start |
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echo "[init] mavlink" |
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mavlink start -d /dev/ttyS0 -b 57600 |
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usleep 5000 |
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echo "[init] commander" |
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commander start |
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echo "[init] attitude control" |
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attitude_estimator_ekf start |
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multirotor_att_control start |
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echo "[init] starting PWM output" |
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fmu mode_pwm |
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix |
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echo "[init] startup done, exiting" |
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exit
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