#!/bin/sh

echo "INFO  [init] SIH simulator"

if [ -n "${PX4_HOME_LAT}" ]; then
	param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
fi

if [ -n "${PX4_HOME_LON}" ]; then
	param set SIH_LOC_LON0 ${PX4_HOME_LON}
fi
if [ -n "${PX4_HOME_ALT}" ]; then
	param set SIH_LOC_H0 ${PX4_HOME_ALT}
fi

if simulator_sih start; then

	if param compare -s SENS_EN_BAROSIM 1
	then
		sensor_baro_sim start
	fi
	if param compare -s SENS_EN_GPSSIM 1
	then
		sensor_gps_sim start
	fi
	if param compare -s SENS_EN_MAGSIM 1
	then
		sensor_mag_sim start
	fi
	if param compare -s SENS_EN_AGPSIM 1
	then
		sensor_agp_sim start
	fi

else
	echo "ERROR [init] simulator_sih failed to start"
	exit 1
fi