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SITL: add multi-vehicle support to rcS

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This also removes the HIGHRES_IMU mavlink stream to the GCS. I don't see
why it's needed and it adds noticeable CPU load.
This commit is contained in:
Beat Küng
2018-08-13 21:50:14 -04:00
committed by Daniel Agar
parent a00f7ebf47
commit e6b9806ee1
9 changed files with 37 additions and 233 deletions
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ROMFS/px4fmu_common/init.d-posix/6011_typhoon_h480.post
+3 -3
View File
@@ -3,6 +3,6 @@ mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
mavlink stream -r 10 -s MOUNT_ORIENTATION -u 14556
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14557
mavlink stream -r 10 -s MOUNT_ORIENTATION -u 14557
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
ROMFS/px4fmu_common/init.d-posix/rcS
+20 -13
View File
@@ -71,6 +71,12 @@ else
set AUTOCNF yes
fi
# multi-instance setup
param set MAV_SYS_ID $((1+$px4_instance))
simulator_udp_port=$((14560+$px4_instance))
udp_offboard_port_local=$((14557+$px4_instance))
udp_offboard_port_remote=$((14540+$px4_instance))
udp_gcs_port_local=$((14556+$px4_instance))
if [ $AUTOCNF == yes ]
then
@@ -137,7 +143,7 @@ sh "$autostart_file"
dataman start
replay tryapplyparams
simulator start -s
simulator start -s -u $simulator_udp_port
tone_alarm start
gyrosim start
accelsim start
@@ -166,19 +172,20 @@ fi
#
sh etc/init.d/rc.vehicle_setup
# GCS link
mavlink start -x -u $udp_gcs_port_local -r 4000000
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
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
# API/Offboard link
mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote
# execute autostart post script if any
[ -e "$autostart_file".post ] && sh "$autostart_file".post