#!/bin/sh
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
. px4-alias.sh

# navio config for simple testing

param select parameters.bson
param import

param set CBRK_SUPPLY_CHK 894281
param set SYS_AUTOSTART 4001
param set MAV_TYPE 2

# Multi-EKF
param set EKF2_MULTI_IMU 2
param set SENS_IMU_MODE 0

dataman start

load_mon start

mpu9250 -s -R 2 start
lsm9ds1 -s -R 4 start
lsm9ds1_mag -s -R 4 start
ms5611 -X start

navio_rgbled start

board_adc start
battery_status start

gps start -d /dev/spidev0.0 -i spi -p ubx
rc_update start
sensors start
commander start
navigator start
ekf2 start
land_detector start multicopter
mc_hover_thrust_estimator start
flight_mode_manager start
mc_pos_control start
mc_att_control start

mavlink start -x -u 14556 -r 1000000 -p

if [ -c /dev/ttyUSB0 ]
then
	mavlink start -x -d /dev/ttyUSB0
elif [ -c /dev/ttyAMA0 ]
then
	mavlink start -x -d /dev/ttyAMA0
fi

navio_sysfs_rc_in start
linux_pwm_out start
control_allocator start

logger start -t -f -b 200

mavlink boot_complete

sleep 5

ver all
sleep 1
commander check
sleep 1
dataman status
sleep 1
ekf2 status
sleep 1
logger status
sleep 1
mavlink status
sleep 1
mavlink status streams
sleep 1
param status
sleep 1
sensors status
sleep 1
perf
sleep 1
perf latency
sleep 1
work_queue status
sleep 1
uorb top -1
sleep 1

shutdown