bizhang_-obav/ROMFS/px4fmu_common/init.d/rc.sensors

#!nsh
#
# Standard startup script for PX4FMU v1, v2, v3, v4 onboard sensor drivers.
#

if ver hwcmp PX4FMU_V1
then
	if ms5611 start
	then
	fi
else
	# Configure all I2C buses to 100 KHz as they
	# are all external or slow
	fmu i2c 1 100000
	fmu i2c 2 100000

	if ver hwcmp PX4FMU_V4
	then
		# We know there are sketchy boards out there
		# as chinese companies produce Pixracers without
		# fully understanding the critical parts of the
		# schematic and BOM, leading to sensor brownouts
		# on boot. Original Pixracers following the
		# open hardware design do not require this.
		fmu sensor_reset 20
	fi

	if ms5611 -s start
	then
	fi

	# Blacksheep telemetry
	if bst start
	then
	fi
fi

if adc start
then
fi

if ver hwcmp PX4FMU_V2
then
	# External I2C bus
	if hmc5883 -C -T -X start
	then
	fi

	# External I2C bus
	if lis3mdl -X start
	then
	fi

	# Internal I2C bus
	if hmc5883 -C -T -I -R 4 start
	then
	fi

	# Internal SPI bus ICM-20608-G
	if mpu6000 -T 20608 start
	then
	fi

	# external MPU6K is rotated 180 degrees yaw
	if mpu6000 -X -R 4 start
	then
		set BOARD_FMUV3 true
	else
		set BOARD_FMUV3 false
	fi

	if [ $BOARD_FMUV3 == true ]
	then
		# external L3GD20H is rotated 180 degrees yaw
		if l3gd20 -X -R 4 start
		then
		fi

		# external LSM303D is rotated 270 degrees yaw
		if lsm303d -X -R 6 start
		then
		fi

		# internal MPU6000 is rotated 180 deg roll, 270 deg yaw
		if mpu6000 -R 14 start
		then
		fi

		if hmc5883 -C -T -S -R 8 start
		then
		fi

		if meas_airspeed start -b 2
		then
		fi

	else
		# FMUv2
		if mpu6000 start
		then
		fi

		if l3gd20 start
		then
		fi

		if lsm303d start
		then
		fi
	fi
fi

if ver hwcmp PX4FMU_V4
then
	# External I2C bus
	if hmc5883 -C -T -X start
	then
	fi

	if lis3mdl -R 2 start
	then
	fi

	# Internal SPI bus is rotated 90 deg yaw
	if hmc5883 -C -T -S -R 2 start
	then
	fi

	# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
	if mpu6000 -R 2 -T 20608 start
	then
	fi

	# Internal SPI bus mpu9250 is rotated 90 deg yaw
	if mpu9250 -R 2 start
	then
	fi
fi

if ver hwcmp PX4FMU_V1
then
	# FMUv1
	if mpu6000 start
	then
	fi

	if l3gd20 start
	then
	fi

	# MAG selection
	if param compare SENS_EXT_MAG 2
	then
		if hmc5883 -C -I start
		then
		fi
	else
		# Use only external as primary
		if param compare SENS_EXT_MAG 1
		then
			if hmc5883 -C -X start
			then
			fi
		else
		# auto-detect the primary, prefer external
			if hmc5883 start
			then
			fi
		fi
	fi
fi

if ver hwcmp MINDPX_V2
then
	if mpu6500 start
	then
	fi

	if lsm303d start
	then
	fi

	if l3gd20 start
	then
	fi

	# External I2C bus
	if hmc5883 -C -T -X start
	then
	fi

	if lis3mdl -R 2 start
	then
	fi
fi

if meas_airspeed start
then
else
	if ets_airspeed start
	then
	else
		if ets_airspeed start -b 1
		then
		fi
	fi
fi

if sf1xx start
then
fi

# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
usleep 20000
if sensors start
then
fi