#!/bin/sh
#
# PX4 FMUv5 specific board sensors init
#------------------------------------------------------------------------------
#
# UART mapping on NXP FMURT1062:
#
# LPUART7       /dev/ttyS0      CONSOLE
# LPUART2       /dev/ttyS1      GPS
# LPUART3       /dev/ttyS2      TELEM2 (GPIO flow control)
# LPUART4       /dev/ttyS3      TELEM1 (UART flow control)
# LPUART5       /dev/ttyS4      TELEM4 GPS2
# LPUART6       /dev/ttyS5      TELEM3 (RC_INPUT)
# LPUART8       /dev/ttyS6      PX4IO
#
#------------------------------------------------------------------------------

adc start

# Internal SPI bus ICM-20602
mpu6000 -R 8 -s -T 20602 start

# Internal SPI bus ICM-20689
mpu6000 -R 8 -z -T 20689 start

# Internal SPI bus BMI055 accel
bmi055 -A -R 10 start

# Internal SPI bus BMI055 gyro
bmi055 -G -R 10 start

# Possible external compasses
ist8310 -b 1 start
ist8310 -b 2 start
hmc5883 -C -T -X start
qmc5883 -X start
lis3mdl -X start

# ICM20948 as external magnetometer on I2C (e.g. Here GPS)
if ! icm20948 -X -M -R 6 start
then
	# external emulated AK09916 (Here2) is rotated 270 degrees yaw
	ak09916 -X -R 6 start
fi

# Possible internal compass
ist8310 -b 5 start

# Baro on internal SPI
ms5611 -s start

# External RM3100 (I2C or SPI)
rm3100 start

# Possible pmw3901 optical flow sensor
pmw3901 start

px4flow start &
