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ROMFS/px4fmu_common/init.d-posix/rcS: split and source data from files in PATH
This commit is contained in:
korotkoves
Beat Küng
parent
b898aabfed
commit
d62204856c
@ -34,6 +34,9 @@
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add_subdirectory(airframes)
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px4_add_romfs_files(
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px4-rc.params
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px4-rc.simulator
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px4-rc.mavlink
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rc.replay
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rcS
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)
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32
ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink
Normal file
32
ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink
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@ -0,0 +1,32 @@
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#!/bin/sh
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# shellcheck disable=SC2154
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udp_offboard_port_local=$((14580+px4_instance))
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udp_offboard_port_remote=$((14540+px4_instance))
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[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
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udp_onboard_payload_port_local=$((14280+px4_instance))
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udp_onboard_payload_port_remote=$((14030+px4_instance))
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udp_onboard_gimbal_port_local=$((13030+px4_instance))
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udp_onboard_gimbal_port_remote=$((13280+px4_instance))
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udp_gcs_port_local=$((18570+px4_instance))
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# GCS link
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mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
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mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
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mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
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mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
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mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
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mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
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mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
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mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
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mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
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mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
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# API/Offboard link
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mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
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# Onboard link to camera
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mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
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# Onboard link to gimbal
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mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
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5
ROMFS/px4fmu_common/init.d-posix/px4-rc.params
Normal file
5
ROMFS/px4fmu_common/init.d-posix/px4-rc.params
Normal file
@ -0,0 +1,5 @@
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#!/bin/sh
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# shellcheck disable=SC2154
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#param set MAV_SYS_ID $((px4_instance+1))
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#param set IMU_INTEG_RATE 250
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20
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
Normal file
20
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
Normal file
@ -0,0 +1,20 @@
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#!/bin/sh
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# shellcheck disable=SC2154
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simulator_tcp_port=$((4560+px4_instance))
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# Check if PX4_SIM_HOSTNAME environment variable is empty
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# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
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# If both are empty use localhost for simulator
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if [ -z "${PX4_SIM_HOSTNAME}" ]; then
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if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
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echo "PX4 SIM HOST: localhost"
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simulator start -c $simulator_tcp_port
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else
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echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
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simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
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fi
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else
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echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
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simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
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fi
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@ -5,7 +5,8 @@
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# shellcheck disable=SC1091
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. px4-alias.sh
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SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"
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#search path for sourcing px4-rc.*
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PATH="$PATH:${R}etc/init.d-posix"
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#
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# Main SITL startup script
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@ -45,9 +46,9 @@ else
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# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
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# TODO: unify with rc.autostart generation
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# shellcheck disable=SC2012
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REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
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REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
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if [ -z "$REQUESTED_AUTOSTART" ]; then
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echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
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echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
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exit 1
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else
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echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
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@ -104,15 +105,6 @@ fi
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# multi-instance setup
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# shellcheck disable=SC2154
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param set MAV_SYS_ID $((px4_instance+1))
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simulator_tcp_port=$((4560+px4_instance))
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udp_offboard_port_local=$((14580+px4_instance))
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udp_offboard_port_remote=$((14540+px4_instance))
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[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
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udp_onboard_payload_port_local=$((14280+px4_instance))
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udp_onboard_payload_port_remote=$((14030+px4_instance))
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udp_onboard_gimbal_port_local=$((13030+px4_instance))
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udp_onboard_gimbal_port_remote=$((13280+px4_instance))
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udp_gcs_port_local=$((18570+px4_instance))
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if [ $AUTOCNF = yes ]
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then
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@ -216,25 +208,14 @@ fi
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# Simulator IMU data provided at 250 Hz
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param set IMU_INTEG_RATE 250
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#user defined params for instances can be in PATH
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. px4-rc.params
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dataman start
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# only start the simulator if not in replay mode, as both control the lockstep time
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if ! replay tryapplyparams
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then
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# Check if PX4_SIM_HOSTNAME environment variable is empty
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# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
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# If both are empty use localhost for simulator
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if [ -z "${PX4_SIM_HOSTNAME}" ]; then
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if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
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echo "PX4 SIM HOST: localhost"
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simulator start -c $simulator_tcp_port
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else
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echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
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simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
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fi
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else
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echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
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simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
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fi
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. px4-rc.simulator
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fi
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load_mon start
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battery_simulator start
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@ -272,32 +253,8 @@ fi
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#
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. ${R}etc/init.d/rc.vehicle_setup
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if [ -e etc/init.d-posix/rc.mavlink_override ]
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then
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echo "Running non-default mavlink config rc.mavlink_override"
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. ${R}etc/init.d-posix/rc.mavlink_override
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else
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# GCS link
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mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
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mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
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mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
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mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
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mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
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mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
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mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
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mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
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mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
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mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
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# API/Offboard link
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mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
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# Onboard link to camera
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mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
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# Onboard link to gimbal
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mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
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fi
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#user defined mavlink streams for instances can be in PATH
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. px4-rc.mavlink
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# execute autostart post script if any
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[ -e "$autostart_file".post ] && . "$autostart_file".post
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