mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 20:03:35 +08:00
50 lines
857 B
Bash
50 lines
857 B
Bash
#!/bin/sh
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. px4-alias.sh
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param select parameters.bson
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param import
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. ./etc/init.d/rc.board_defaults
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# Submarine
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set VEHICLE_TYPE uuv
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param set MAV_TYPE 12
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param set SYS_AUTOSTART 60002
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# Disable GPS check and use barometer as reference
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param set EKF2_GPS_CTRL 0
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param set EKF2_GPS_CHECK 0
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param set EKF2_BARO_CTRL 1
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param set EKF2_HGT_REF 0
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param set EKF2_RNG_CTRL 0
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param set EKF2_OF_CTRL 0
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param set EKF2_EV_CTRL 0
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dataman start
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load_mon start
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battery_status start
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. ./etc/init.d/rc.board_sensors
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. ./etc/init.d/rc.board_extras
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# Sensoring and core modules
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sensors start
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commander start
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navigator start
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ekf2 start
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flight_mode_manager start
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control_allocator start
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# Sub specific modules
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land_detector start rover
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uuv_att_control start
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uuv_pos_control start
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mavlink start -x -u 14556 -r 1000000 -p
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logger start -t -b 200
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mavlink boot_complete
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