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

#!nsh
#
# Standard startup script for PX4FMU onboard sensor drivers.
#

#
# Start sensor drivers here.
#

ms5611 start
adc start

# mag might be external
if hmc5883 start
then
	echo "using HMC5883"
fi

if mpu6000 start
then
	echo "using MPU6000"
fi

if l3gd20 start
then
	echo "using L3GD20(H)"		
fi

if lsm303d start
then
	set BOARD fmuv2
else
	set BOARD fmuv1
fi

# Start airspeed sensors
if meas_airspeed start
then
	echo "using MEAS airspeed sensor"
else
	if ets_airspeed start
	then
		echo "using ETS airspeed sensor (bus 3)"
	else
		if ets_airspeed start -b 1
		then
			echo "Using ETS airspeed sensor (bus 1)"
		fi
	fi
fi

#
# Start the sensor collection task.
# IMPORTANT: this also loads param offsets
# ALWAYS start this task before the
# preflight_check.
#
if sensors start
then
	preflight_check &
fi