From e1eceda5f26abba336f1bc90cc146879e155d04b Mon Sep 17 00:00:00 2001 From: NRottmann Date: Fri, 1 Sep 2017 15:35:11 +0200 Subject: [PATCH] Change start up script Now the start up script starts a GPS simulator as well as the ekf in order to estimate position and orientation --- posix-configs/SITL/init/ekf2/hippocampus | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/posix-configs/SITL/init/ekf2/hippocampus b/posix-configs/SITL/init/ekf2/hippocampus index 3490edbe08..7330d93283 100644 --- a/posix-configs/SITL/init/ekf2/hippocampus +++ b/posix-configs/SITL/init/ekf2/hippocampus @@ -19,18 +19,19 @@ gyrosim start accelsim start barosim start adcsim start +gpssim start sleep 1 sensors start commander start - -attitude_estimator_q start +ekf2 start mavlink start -u 14556 -r 4000000 mavlink start -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556 mavlink stream -r 50 -s ATT_POS_MOCAP -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 + logger start -r 100 -e mavlink boot_complete