bizhang_-obav/ROMFS/scripts/rc.PX4IOAR

#!nsh
#
# Flight startup script for PX4FMU on PX4IOAR carrier board.
#
 
set USB no
 
echo "[init] doing PX4IOAR startup..."
 
#
# Start the ORB
#
uorb start
 
#
# Init the EEPROM
#
echo "[init] eeprom"
eeprom start
if [ -f /eeprom/parameters ]
then
	param load
fi
 
#
# Start the sensors.
#
sh /etc/init.d/rc.sensors
 
#
# Start MAVLink
#
mavlink start -d /dev/ttyS0 -b 57600
usleep 5000
 
#
# Start the commander.
#
commander start
 
#
# Start the attitude estimator
#
attitude_estimator_ekf start
 
#
# Configure PX4FMU for operation with PX4IOAR
#
fmu mode_gpio_serial
 
#
# Fire up the multi rotor attitude controller
#
multirotor_att_control start
 
#
# Fire up the AR.Drone interface.
#
ardrone_interface start

#
# Start logging to microSD if we can
#
#sh /etc/init.d/rc.logging

#
# Start GPS capture
#
gps start
 
#
# startup is done; we don't want the shell because we
# use the same UART for telemetry
#
echo "[init] startup done"
exit