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

#!nsh
#
# Standard startup script for PX4FMU v1, v2, v3 onboard sensor drivers.
#

if ms5611 start
then
fi

if adc start
then
fi

if ver hwcmp PX4FMU_V2
then
	# External I2C bus
	if hmc5883 -C -T -X start
	then
	fi

	# Internal I2C bus
	if hmc5883 -C -T -I -R 4 start
	then
	fi

	# external MPU6K is rotated 180 degrees yaw
	if mpu6000 -X -R 4 start
	then
		set BOARD_FMUV3 true
	else
		set BOARD_FMUV3 false
	fi

	if [ $BOARD_FMUV3 == true ]
	then
		# external L3GD20H is rotated 180 degrees yaw
		if l3gd20 -X -R 4 start
		then
		fi

		# external LSM303D is rotated 270 degrees yaw
		if lsm303d -X -R 6 start
		then
		fi

		# internal MPU6000 is rotated 180 deg roll, 270 deg yaw
		if mpu6000 -R 14 start
		then
		fi

		if hmc5883 -C -T -S -R 8 start
		then
		fi

	else
		# FMUv2
		if mpu6000 start
		then
		fi

		if l3gd20 start
		then
		fi

		if lsm303d start
		then
		fi
	fi
else
	# FMUv1
	if mpu6000 start
	then
	fi

	if l3gd20 start
	then
	fi

	# MAG selection
	if param compare SENS_EXT_MAG 2
	then
		if hmc5883 -C -I start
		then
		fi
	else
		# Use only external as primary
		if param compare SENS_EXT_MAG 1
		then
			if hmc5883 -C -X start
			then
			fi
		else
		# auto-detect the primary, prefer external
			if hmc5883 start
			then
			fi
		fi
	fi
fi

if meas_airspeed start
then
else
	if ets_airspeed start
	then
	else
		if ets_airspeed start -b 1
		then
		fi
	fi
fi

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