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Enable camera triggering and gimbal control via MAVLink

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This commit is contained in:
Lorenz Meier 2017-07-16 18:53:14 +02:00
parent efba7fa7b9
commit b1a987f06b
1 changed files with 5 additions and 0 deletions
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5
posix-configs/SITL/init/ekf2/typhoon_h480
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@ -43,6 +43,9 @@ param set SENS_BOARD_X_OFF 0.000001
param set SYS_AUTOSTART 6001
param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2
param set TRIG_INTERFACE 3
param set TRIG_MODE 4
param set MNT_MODE_IN 0
replay tryapplyparams
simulator start -s
tone_alarm start
@ -63,6 +66,7 @@ mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix
mixer append /dev/pwm_output0 ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
mavlink start -u 14556 -r 4000000
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
mavlink start -u 14558 -r 4000 -m onboard -o 14530
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
@ -75,5 +79,6 @@ mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
logger start -e -t
vmount start
camera_trigger start
mavlink boot_complete
replay trystart