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

uorb start

param load

param set BAT_N_CELLS 3
param set CBRK_SUPPLY_CHK 894281
param set MAV_TYPE 22
param set VT_TYPE 2
param set SYS_RESTART_TYPE 0

dataman start

simulator start
tone_alarm start
pwm_out_sim start

rc_update start
sensors start
commander start
land_detector start vtol
navigator start
ekf2 start
vtol_att_control start
mc_hover_thrust_estimator start
mc_pos_control start vtol
mc_att_control start vtol
mc_rate_control start vtol
fw_pos_control_l1 start vtol
fw_att_control start vtol
airspeed_selector start

#mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix

ver all

logger start -e -t

mavlink boot_complete

sleep 1

echo "Boot complete"

# status of all running modules
echo "Checking status of all modules"
logger status
pwm_out_sim status
sensors status
commander status
rc_update stop
land_detector status
navigator status
ekf2 status
mc_pos_control status
mc_att_control status
mc_rate_control status
fw_pos_control_l1 status
fw_att_control status
airspeed_selector status
dataman status
uorb status

# stop all
echo "Stopping all modules"
logger stop
pwm_out_sim stop
mc_rate_control stop
mc_att_control stop
fw_att_control stop
mc_pos_control stop
fw_pos_control_l1 stop
navigator stop
commander stop
land_detector stop
ekf2 stop
airspeed_selector stop
sensors stop

simulator stop
tone_alarm stop

dataman stop
#uorb stop

shutdown