px4-firmware/ROMFS/px4fmu_common/init.d/rc.vehicle_setup

#!/bin/sh
#
# Vehicle configuration setup script.
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#

#
# Fixed wing setup.
#
if [ $VEHICLE_TYPE = fw ]
then
	if [ $MIXER = none ]
	then
		# Set default mixer for fixed wing if not defined.
		set MIXER AERT
	fi

	if [ $MAV_TYPE = none ]
	then
		# Set a default MAV_TYPE = 1 if not defined.
		set MAV_TYPE 1
	fi

	# Set the mav type parameter.
	param set MAV_TYPE ${MAV_TYPE}

	# Load mixer and configure outputs.
	source /etc/init.d/rc.interface

	# Start standard fixedwing apps.
	source /etc/init.d/rc.fw_apps
fi

#
# Multicopter setup.
#
if [ $VEHICLE_TYPE = mc ]
then
	if [ $MIXER = none ]
	then
		echo "MC mixer undefined"
	fi

	if [ $MAV_TYPE = none ]
	then
		# Set a default MAV_TYPE = 2 if not defined.
		set MAV_TYPE 2

		# Use mixer to detect vehicle type
		if [ $MIXER = coax ]
		then
			set MAV_TYPE 3
		fi
		if [ $MIXER = hexa_x -o $MIXER = hexa_+ ]
		then
			set MAV_TYPE 13
		fi
		if [ $MIXER = hexa_cox ]
		then
			set MAV_TYPE 13
		fi
		if [ $MIXER = octo_x -o $MIXER = octo_+ ]
		then
			set MAV_TYPE 14
		fi
		if [ $MIXER = octo_cox -o $MIXER = octo_cox_w ]
		then
			set MAV_TYPE 14
		fi
		if [ $MIXER = tri_y_yaw- -o $MIXER = tri_y_yaw+ ]
		then
			set MAV_TYPE 15
		fi
	fi

	# Set the mav type parameter.
	param set MAV_TYPE ${MAV_TYPE}

	# Load mixer and configure outputs.
	source /etc/init.d/rc.interface

	# Start standard multicopter apps.
	source /etc/init.d/rc.mc_apps
fi

#
# UGV setup.
#
if [ $VEHICLE_TYPE = rover ]
then
	if [ $MIXER = none ]
	then
		# Set default mixer for UGV if not defined.
		set MIXER rover_generic
	fi

	if [ $MAV_TYPE = none ]
	then
		# Set a default MAV_TYPE = 10 if not defined.
		set MAV_TYPE 10
	fi

	# Set the mav type parameter.
	param set MAV_TYPE ${MAV_TYPE}

	# Load mixer and configure outputs.
	source /etc/init.d/rc.interface

	# Start standard UGV apps.
	source /etc/init.d/rc.rover_apps
fi

#
# VTOL setup.
#
if [ $VEHICLE_TYPE = vtol ]
then
	if [ $MIXER = none ]
	then
		echo "VTOL mixer undefined"
	fi

	if [ $MAV_TYPE = none ]
	then
		# Set a default MAV_TYPE = 19 if not defined.
		set MAV_TYPE 19

		# Use mixer to detect vehicle type.
		if [ $MIXER = firefly6 ]
		then
			set MAV_TYPE 21
		fi
		if [ $MIXER = quad_x_pusher_vtol ]
		then
			set MAV_TYPE 22
		fi
	fi

	# Set the mav type parameter.
	param set MAV_TYPE ${MAV_TYPE}

	# Load mixer and configure outputs.
	source /etc/init.d/rc.interface

	# Start standard vtol apps.
	source /etc/init.d/rc.vtol_apps
fi

#
# Airship setup.
#
if [ $VEHICLE_TYPE = airship ]
then
	if [ $MIXER = none ]
	then
		echo "Airship mixer undefined"
	fi

	if [ $MAV_TYPE = none ]
	then
		# Set a default MAV_TYPE = 7 if not defined.
		set MAV_TYPE 7
	fi

	# Set the mav type parameter.
	param set MAV_TYPE ${MAV_TYPE}

	# Load mixer and configure outputs.
	source /etc/init.d/rc.interface

	# Start airship apps.
	source /etc/init.d/rc.airship_apps
fi

#
# UUV setup
#
if [ $VEHICLE_TYPE = uuv ]
then
	if [ $MIXER = none ]
	then
		echo "UUV mixer undefined"
	fi

	# Load mixer and configure outputs.
	source /etc/init.d/rc.interface

	# Start standard vtol apps.
	source /etc/init.d/rc.uuv_apps

fi



#
# Generic setup (autostart ID not found).
#
if [ $VEHICLE_TYPE = none ]
then
	echo "No autostart ID found"
	ekf2 start
fi