From bb61144efc2ebc8343a296592c775cde02113c3b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Wed, 28 Sep 2016 19:24:48 +0200 Subject: [PATCH] cmake: add posix_sitl_inav target --- cmake/configs/posix_sitl_inav.cmake | 6 ++++++ posix-configs/SITL/init/inav/iris | 19 ++++++++++++------- 2 files changed, 18 insertions(+), 7 deletions(-) create mode 100644 cmake/configs/posix_sitl_inav.cmake diff --git a/cmake/configs/posix_sitl_inav.cmake b/cmake/configs/posix_sitl_inav.cmake new file mode 100644 index 0000000000..1df0cd057a --- /dev/null +++ b/cmake/configs/posix_sitl_inav.cmake @@ -0,0 +1,6 @@ +include(cmake/configs/posix_sitl_default.cmake) + +set(config_sitl_rcS_dir + posix-configs/SITL/init/inav + ) + diff --git a/posix-configs/SITL/init/inav/iris b/posix-configs/SITL/init/inav/iris index 4f0375b3af..1c69fd5c2f 100644 --- a/posix-configs/SITL/init/inav/iris +++ b/posix-configs/SITL/init/inav/iris @@ -42,8 +42,9 @@ param set MP_PITCH_P 4 param set MP_PITCHRATE_P 0.3 param set COM_RC_IN_MODE 1 param set NAV_DLL_ACT 2 +replay tryapplyparams simulator start -s -rgbled start +rgbledsim start tone_alarm start gyrosim start accelsim start @@ -62,12 +63,16 @@ mc_pos_control_m start mc_att_control_m start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix mavlink start -u 14556 -r 2000000 -mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 -mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 -mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556 -mavlink stream -r 80 -s ATTITUDE -u 14556 -mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556 -mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556 +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 +mavlink stream -r 50 -s ATTITUDE -u 14556 +mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556 +mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556 +mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556 mavlink stream -r 20 -s RC_CHANNELS -u 14556 mavlink stream -r 250 -s HIGHRES_IMU -u 14556 +mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556 +logger start -e -t mavlink boot_complete +replay trystart