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

#!/bin/sh
#
# Standard startup script for sensor drivers.
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#

if ! ver hwcmp AEROFC_V1 OMNIBUS_F4SD
then
	if ! ver hwcmp BITCRAZE_CRAZYFLIE
	then
		# Configure all I2C buses to 100 KHz as they
		# are all external or slow
		fmu i2c 1 100000
		fmu i2c 2 100000
	fi

	# External SPI
	ms5611 -S start

	# Internal SPI (auto detect ms5611 or ms5607)
	ms5611 -T 0 -s start

	adc start
fi

###############################################################################
#                           Begin Optional drivers                            #
###############################################################################

if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
then
	if param compare CBRK_AIRSPD_CHK 0
	then
		sdp3x_airspeed start -a

		# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
		# detected as MS5525 because the chip manufacturer was so
		# clever to assign the same I2C address and skip a WHO_AM_I
		# register.
		if [ $BOARD_FMUV3 = 21 ]
		then
			ms5525_airspeed start -b 2
		else
			ms5525_airspeed start -a
		fi

		ms4525_airspeed start -a

		ets_airspeed start -a

	fi
fi

if param compare SENS_EN_BATT 1
then
	batt_smbus start -X
fi

# Sensors on the PWM interface bank
if param compare SENS_EN_LL40LS 1
then
	if pwm_input start
	then
		ll40ls start pwm
	fi
fi

# Lidar-Lite on I2C
if param compare SENS_EN_LL40LS 2
then
	ll40ls start i2c
fi

# mappydot lidar sensor
if param compare SENS_EN_MPDT 1
then
	mappydot start -a
fi

# mb12xx sonar sensor
if param greater SENS_EN_MB12XX 0
then
	mb12xx start -a
fi

# pga460 sonar sensor
if param greater SENS_EN_PGA460 0
then
	pga460 start
fi

# Lightware i2c lidar sensor
if param greater SENS_EN_SF1XX 0
then
	sf1xx start -a
fi

# Heater driver for temperature regulated IMUs.
if param compare SENS_EN_THERMAL 1
then
	heater start
fi

# Teraranger one tof sensor
if param greater SENS_EN_TRANGER 0
then
	teraranger start -a
fi

###############################################################################
#                            End Optional drivers                             #
###############################################################################

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