#!nsh
# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
set +e
# Un comment the line below to help debug scripts by printing a trace of the script commands
#set -x
# PX4FMU startup script.
#
# NOTE: environment variable references:
#    If the dollar sign ('$') is followed by a left bracket ('{') then the
#    variable name is terminated with the right bracket character ('}').
#    Otherwise, the variable name goes to the end of the argument.
#
#
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
#

#
# Set default paramter values
#
set AUX_MODE                    pwm
set DATAMAN_OPT                 ""
set FAILSAFE                    none
set FAILSAFE_AUX                none
set FCONFIG                     /fs/microsd/etc/config.txt
set FEXTRAS                     /fs/microsd/etc/extras.txt
set FRC                         /fs/microsd/etc/rc.txt
set FMU_ARGS                    ""
set FMU_MODE                    pwm
set IO_FILE                     ""
set IO_PRESENT                  no
set LOG_FILE                    /fs/microsd/bootlog.txt
set LOGGER_BUF                  14
set MAVLINK_F                   default
set MAVLINK_COMPANION_DEVICE    /dev/ttyS2
set MAV_TYPE                    none
set MIXER                       none
set MIXER_AUX                   none
set MK_MODE                     none
set MKBLCTRL_ARG                ""
set MODE                        autostart
set OUTPUT_MODE                 none
set PARAM_FILE                  /fs/microsd/params
set PWM_OUT                     none
set PWM_RATE                    p:PWM_RATE
set PWM_DISARMED                p:PWM_DISARMED
set PWM_MIN                     p:PWM_MIN
set PWM_MAX                     p:PWM_MAX
set PWM_AUX_OUT                 none
set PWM_AUX_RATE                none
set PWM_ACHDIS                  none
set PWM_AUX_DISARMED            p:PWM_AUX_DISARMED
set PWM_AUX_MIN                 p:PWM_AUX_MIN
set PWM_AUX_MAX                 p:PWM_AUX_MAX
set TUNE_ERR                    "ML<<CP4CP4CP4CP4CP4"
set USE_IO                      no
set VEHICLE_TYPE                none

#
# Mount the procfs.
#
mount -t procfs /proc

#
# Start CDC/ACM serial driver
#
sercon

# print full system version
ver all

#
# Try to mount the microSD card.
#
# REBOOTWORK this needs to start after the flight control loop
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
	if hardfault_log check
	then
		tone_alarm error
		if hardfault_log commit
		then
			hardfault_log reset
			tone_alarm stop
		fi
	fi
else
	tone_alarm MBAGP
	if mkfatfs /dev/mmcsd0
	then
		if mount -t vfat /dev/mmcsd0 /fs/microsd
		then
			echo "INFO  [init] card formatted"
		else
			echo "ERROR [init] format failed"
			tone_alarm MNBG
			set LOG_FILE /dev/null
		fi
	else
		set LOG_FILE /dev/null
	fi
fi

if ver hwcmp CRAZYFLIE AEROCORE2
then
	# AEROCORE2 shouldn't have an sd card and CF2 may optionally have an sd card.
else
	# Run no SD alarm.
	if [ $LOG_FILE == /dev/null ]
	then
		# Play SOS.
		tone_alarm error
	fi
fi

#
# Look for an init script on the microSD card.
# Disable autostart if the script found.
#
if [ -f $FRC ]
then
	sh $FRC
	set MODE custom
fi

if [ $MODE == autostart ]
then
	#
	# Start the ORB (first app to start)
	#
	uorb start

	#
	# Start tone driver
	#
	tone_alarm start

	#
	# play startup tone
	#
	tune_control play -t 1

	#
	# Load parameters
	#
	if mtd start
	then
		set PARAM_FILE /fs/mtd_params
	fi

	param select $PARAM_FILE
	if param load
	then
	else
		if param reset
		then
		fi
	fi

	#
	# Start system state indicator
	#
	if rgbled start
	then
	else
		if blinkm start
		then
			blinkm systemstate
		fi
	fi

	# FMUv5 may have both PWM I2C RGB LED support
	rgbled_pwm start

	#
	# Set AUTOCNF flag to use it in AUTOSTART scripts
	#
	if param compare SYS_AUTOCONFIG 1
	then
		# Wipe out params except RC*, flight modes and total flight time
		param reset_nostart RC* COM_FLTMODE* LND_FLIGHT_T_*
		set AUTOCNF yes
	else
		set AUTOCNF no

		#
		# Release 1.4.0 transitional support:
		# set to old default if unconfigured.
		# this preserves the previous behaviour
		#
		if param compare BAT_N_CELLS 0
		then
			param set BAT_N_CELLS 3
		fi
	fi

	if ver hwcmp PX4FMU_V5
	then
		set LOGGER_BUF 64
	fi

	if ver hwcmp CRAZYFLIE
	then
		if param compare SYS_AUTOSTART 0
		then
			param set SYS_AUTOSTART 4900
			set AUTOCNF yes
		fi
	fi

	if ver hwcmp AEROFC_V1
	then
		if param compare SYS_AUTOSTART 0
		then
			set AUTOCNF yes
		fi

		# We don't allow changing AUTOSTART as it doesn't work in
		# other configurations
		param set SYS_AUTOSTART 4070
	fi

	if ver hwcmp NXPHLITE_V3
	then
		param set SYS_FMU_TASK 1
	fi

	#
	# Set USE_IO flag
	#
	if param compare SYS_USE_IO 1
	then
		set USE_IO yes
	fi

	if param compare SYS_FMU_TASK 1
	then
		set FMU_ARGS "-t"
	fi

	#
	# Set parameters and env variables for selected AUTOSTART
	#
	if param compare SYS_AUTOSTART 0
	then
	else
		sh /etc/init.d/rc.autostart
	fi

	#
	# If mount (gimbal) control is enabled and output mode is AUX, set the aux
	# mixer to mount (override the airframe-specific MIXER_AUX setting)
	#
	if param compare MNT_MODE_IN -1
	then
	else
		if param compare MNT_MODE_OUT 0
		then
			set MIXER_AUX mount
		fi
	fi

	#
	# Override parameters from user configuration file
	#
	if [ -f $FCONFIG ]
	then
		echo "Custom: ${FCONFIG}"
		sh $FCONFIG
	fi

	#
	# If autoconfig parameter was set, reset it and save parameters
	#
	if [ $AUTOCNF == yes ]
	then
		# Disable safety switch by default on Pixracer and OmnibusF4SD
		if ver hwcmp PX4FMU_V4 OMNIBUS_F4SD
		then
			param set CBRK_IO_SAFETY 22027
		fi

		# Run FMU as task on Pixracer and on boards with enough RAM
		if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO PX4FMU_V5
		then
			param set SYS_FMU_TASK 1
		fi

		if ver hwcmp OMNIBUS_F4SD
		then
			param set SYS_FMU_TASK 1
			param set SYS_HAS_MAG 0
			# use the Q attitude estimator, it works w/o mag or GPS
			param set SYS_MC_EST_GROUP 1
			param set ATT_ACC_COMP 0
			param set ATT_W_ACC 0.4000
			param set ATT_W_GYRO_BIAS 0.0000
		fi

		param set SYS_AUTOCONFIG 0
	fi

	#
	# Check if PX4IO present and update firmware if needed
	#
	if [ -f /etc/extras/px4io-v2.bin ]
	then
		set IO_FILE /etc/extras/px4io-v2.bin

		if px4io checkcrc ${IO_FILE}
		then
			set IO_PRESENT yes
		else
			tone_alarm MLL32CP8MB

			if px4io start
			then
				# try to safe px4 io so motor outputs dont go crazy
				if px4io safety_on
				then
					# success! no-op
				else
					# px4io did not respond to the safety command
					px4io stop
				fi
			fi

			if px4io forceupdate 14662 ${IO_FILE}
			then
				usleep 10000
				if px4io checkcrc ${IO_FILE}
				then
					echo "PX4IO CRC OK after updating" >> $LOG_FILE
					tone_alarm MLL8CDE

					set IO_PRESENT yes
				else
					echo "PX4IO update failed" >> $LOG_FILE
					tone_alarm ${TUNE_ERR}
				fi
			else
				echo "PX4IO update failed" >> $LOG_FILE
				tune_control play -m ${TUNE_ERR}
			fi
		fi
	fi

	if [ $USE_IO == yes -a $IO_PRESENT == no ]
	then
		echo "PX4IO not found" >> $LOG_FILE
		tune_control play -m ${TUNE_ERR}
	fi

	#
	# Set default output if not set
	#
	if [ $OUTPUT_MODE == none ]
	then
		if [ $USE_IO == yes ]
		then
			set OUTPUT_MODE io
		else
			set OUTPUT_MODE fmu
		fi
	fi

	if [ $OUTPUT_MODE == io -a $IO_PRESENT != yes ]
	then
		# Need IO for output but it not present, disable output
		set OUTPUT_MODE none
	fi

	if [ $OUTPUT_MODE == tap_esc ]
	then
		set FMU_MODE rcin
	fi

	if ver hwcmp AEROFC_V1
	then
		set DATAMAN_OPT -i
	fi
	if ver hwcmp AEROCORE2
	then
		set DATAMAN_OPT "-f /fs/mtd_dataman"
	fi

	#
	# waypoint storage
	# REBOOTWORK this needs to start in parallel
	#
	if dataman start $DATAMAN_OPT
	then
	fi

	#
	# Sensors System (start before Commander so Preflight checks are properly run)
	# commander Needs to be this early for in-air-restarts
	#
	if param compare SYS_HITL 1
	then
		set OUTPUT_MODE hil
		sensors start -h
		commander start --hil
	else
		if ver hwcmp PX4_SAME70XPLAINED_V1
		then
			gps start -d /dev/ttyS2
		else
			gps start
		fi
		sh /etc/init.d/rc.sensors
		commander start
	fi

	send_event start
	load_mon start

	#
	# Check if UAVCAN is enabled, default to it for ESCs
	#
	if param greater UAVCAN_ENABLE 2
	then
		set OUTPUT_MODE uavcan_esc
	fi

	# Sensors on the PWM interface bank
	if param compare SENS_EN_LL40LS 1
	then
		# clear pins 5 and 6
		set FMU_MODE pwm4
		set AUX_MODE pwm4
	fi
	if param greater TRIG_MODE 0
	then
		# We ONLY support trigger on pins 5 and 6 when simultanously using AUX for actuator output
		if param compare TRIG_PINS 56
		then
			# clear pins 5 and 6
			set FMU_MODE pwm4
			set AUX_MODE pwm4
		else
			set FMU_MODE none
			set AUX_MODE none
		fi
		camera_trigger start

		param set CAM_FBACK_MODE 1
		camera_feedback start
	fi

	# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
	if [ $OUTPUT_MODE != none ]
	then
		if [ $OUTPUT_MODE == uavcan_esc ]
		then
			if param compare UAVCAN_ENABLE 0
			then
				param set UAVCAN_ENABLE 3
			fi
		fi

		if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ]
		then
			if px4io start
			then
				sh /etc/init.d/rc.io
			else
				echo "PX4IO start failed" >> $LOG_FILE
				tune_control play -m  ${TUNE_ERR}
			fi
		fi

		if [ $OUTPUT_MODE == fmu ]
		then
			if fmu mode_$FMU_MODE $FMU_ARGS
			then
			else
				echo "FMU start failed" >> $LOG_FILE
				tune_control play -m ${TUNE_ERR}
			fi
		fi

		if [ $OUTPUT_MODE == mkblctrl ]
		then
			if [ $MKBLCTRL_MODE == x ]
			then
				set MKBLCTRL_ARG "-mkmode x"
			fi
			if [ $MKBLCTRL_MODE == + ]
			then
				set MKBLCTRL_ARG "-mkmode +"
			fi

			if mkblctrl $MKBLCTRL_ARG
			then
			else
				tune_control play -m ${TUNE_ERR}
			fi
		fi

		if [ $OUTPUT_MODE == hil ]
		then
			if pwm_out_sim start
			then
			else
				tune_control play -m ${TUNE_ERR}
			fi
		fi

		#
		# Start IO or FMU for RC PPM input if needed
		#
		if [ $IO_PRESENT == yes ]
		then
			if [ $OUTPUT_MODE != io ]
			then
				if px4io start
				then
					sh /etc/init.d/rc.io
				else
					echo "PX4IO start failed" >> $LOG_FILE
					tune_control play -m ${TUNE_ERR}
				fi
			fi
		else
			if [ $OUTPUT_MODE != fmu ]
			then
				if fmu mode_${FMU_MODE} $FMU_ARGS
				then
				else
					echo "FMU mode_${FMU_MODE} start failed" >> $LOG_FILE
					tune_control play -m ${TUNE_ERR}
				fi
			fi
		fi
	fi

	#
	# Start mavlink streams.
	#
	sh /etc/init.d/rc.mavlink

	#
	# Starting stuff according to UAVCAN_ENABLE value
	#
	if param greater UAVCAN_ENABLE 0
	then
		# Start core UAVCAN module
		if uavcan start
		then
			if param greater UAVCAN_ENABLE 1
			then
				# Reduce logger buffer to free up some RAM for UAVCAN servers
				set LOGGER_BUF 6
				# Start UAVCAN firmware update server and dynamic node ID allocation server
				uavcan start fw
			fi
		else
			tone_alarm ${TUNE_ERR}
		fi
	fi

	if ver hwcmp PX4FMU_V2 PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2 PX4FMU_V5 OMNIBUS_F4SD
	then
		# Check for flow sensor - as it is a background task, launch it last
		px4flow start &
	fi

	#
	# Configure vehicle type specific parameters.
	# Note: rc.vehicle_setup is the entry point for rc.interface,
	#       rc.fw_apps, rc.mc_apps, rc.ugv_apps, and rc.vtol_apps.
	#
	sh /etc/init.d/rc.vehicle_setup

	#
	# Start the navigator.
	#
	navigator start

	# Start any custom addons.
	if [ -f $FEXTRAS ]
	then
		echo "Addons script: ${FEXTRAS}"
		sh $FEXTRAS
	fi

	#
	# Start a thermal calibration if required.
	#
	sh /etc/init.d/rc.thermal_cal

	#
	# vmount to control mounts such as gimbals, disabled by default.
	#
	if param compare MNT_MODE_IN -1
	then
	else
		if vmount start
		then
		fi
	fi

	#
	# Start the logger.
	#
	sh /etc/init.d/rc.logging

# End of autostart.
fi

# There is no further script processing, so we can free some RAM
# XXX potentially unset all script variables.
unset AUX_MODE
unset DATAMAN_OPT
unset FAILSAFE
unset FAILSAFE_AUX
unset FCONFIG
unset FEXTRAS
unset FRC
unset FMU_ARGS
unset FMU_MODE
unset IO_FILE
unset IO_PRESENT
unset LOG_FILE
unset LOGGER_BUF
unset MAVLINK_F
unset MAVLINK_COMPANION_DEVICE
unset MAV_TYPE
unset MIXER
unset MIXER_AUX
unset MK_MODE
unset MKBLCTRL_ARG
unset MODE
unset OUTPUT_AUX_DEV
unset OUTPUT_DEV
unset OUTPUT_MODE
unset PARAM_FILE
unset PWM_ACHDIS
unset PWM_OUT
unset PWM_RATE
unset PWM_DISARMED
unset PWM_MIN
unset PWM_MAX
unset PWM_AUX_OUT
unset PWM_AUX_RATE
unset PWM_ACHDIS
unset PWM_AUX_DISARMED
unset PWM_AUX_MIN
unset PWM_AUX_MAX
unset TUNE_ERR
unset USE_IO
unset VEHICLE_TYPE


# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
mavlink boot_complete