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

#!nsh
#
# 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
		# Use MAV_TYPE = 1 (fixed wing) if not defined.
		set MAV_TYPE 1
	fi

	param set MAV_TYPE ${MAV_TYPE}

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

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

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

	if [ $MAV_TYPE == none ]
	then
		# Use mixer to detect vehicle type
		if [ $MIXER == quad_x -o $MIXER == quad_+ ]
		then
			set MAV_TYPE 2
		fi
		if [ $MIXER == quad_w -o $MIXER == quad_dc ]
		then
			set MAV_TYPE 2
		fi
		if [ $MIXER == quad_h ]
		then
			set MAV_TYPE 2
		fi
		if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
		then
			set MAV_TYPE 15
		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 == coax ]
		then
			set MAV_TYPE 3
		fi
	fi

	# Still no MAV_TYPE found.
	if [ $MAV_TYPE == none ]
	then
		param set MAV_TYPE 2
	else
		param set MAV_TYPE ${MAV_TYPE}
	fi

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

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

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

	if [ $MAV_TYPE == none ]
	then
		# Use mixer to detect vehicle type.
		if [ $MIXER == caipirinha_vtol ]
		then
			set MAV_TYPE 19
		fi
		if [ $MIXER == firefly6 ]
		then
			set MAV_TYPE 21
		fi
		if [ $MIXER == quad_x_pusher_vtol ]
		then
			set MAV_TYPE 22
		fi
	fi

	# Still no MAV_TYPE found.
	if [ $MAV_TYPE == none ]
	then
		echo "Unknown MAV_TYPE"
		param set MAV_TYPE 19
	else
		param set MAV_TYPE ${MAV_TYPE}
	fi

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

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

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

	if [ $MAV_TYPE == none ]
	then
		# Use MAV_TYPE = 10 (UGV) if not defined.
		set MAV_TYPE 10
	fi

	param set MAV_TYPE ${MAV_TYPE}

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

	# Start standard UGV apps.
	sh /etc/init.d/rc.ugv_apps
fi

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