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

# config for a quad without any shield:
# - u-blox GPS connected via UART
# - PWM output using PCA9685 via I2C
# - RC input via shared memory from ppmdecode (https://github.com/crossa/raspberry-pi-ppm-rc-in),
#   GPIO input
uorb start
param load
param set SYS_AUTOSTART 4001
param set MAV_BROADCAST 1
sleep 1
param set MAV_TYPE 2
df_mpu9250_wrapper start -R 10
df_ms5611_wrapper start
gps start -d /dev/ttyACM0 -i uart -p ubx
sensors start
commander start
ekf2 start
land_detector start multicopter
mc_pos_control start
mc_att_control start
mavlink start -x -u 14556 -r 1000000
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50
#mavlink start -x -d /dev/ttyUSB0
#mavlink stream -d /dev/ttyUSB0 -s HIGHRES_IMU -r 50
#mavlink stream -d /dev/ttyUSB0 -s ATTITUDE -r 50
rpi_rc_in start
linux_pwm_out start -p pca9685
logger start -t
mavlink boot_complete
