#!nsh

# APM startup script for NuttX on PX4

uorb start

# mount binfs so we can find the built-in apps
mount -t binfs /dev/null /bin

set device /dev/ttyS1
set sketch NONE

if [ -f /bin/ArduPlane ]
then
	set sketch ArduPlane
fi

if [ -f /bin/ArduCopter ]
then
	set sketch ArduCopter
fi

if [ -f /bin/APMrover2 ]
then
	set sketch APMrover2
fi

if [ $sketch != NONE ]
then
	echo "Starting APM sensors"
	mpu6000 start
	ms5611 start
	hmc5883 start
	adc start

	echo Trying PX4IO start
	if px4io start
	then
		echo Setting up PX4IO board
		echo Loading FMU_pass mixer
		mixer load /dev/pwm_output /etc/mixers/FMU_pass.mix
		echo Setting FMU mode_serial
		fmu mode_serial
	else
		echo Setting up PX4FMU direct mode
		fmu start mode_pwm
		if [ $device == /dev/ttyS1 ]
		then
			# ttyS1 is used for PWM output when there
			# is no IO board
			set device /dev/ttyS2
		fi
	fi
	echo Starting $sketch
	$sketch -d $device start

	# if starting on the console, tell nsh to exit
	# this prevents it from chewing bytes
	if [ $device == /dev/ttyS0 ]
	then
		exit
	fi
else
	echo "No APM sketch found"
fi