mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-07 02:10:35 +08:00
garfieldG
3cd9b3c2cf
Mavlink Ethernet channel settings such as udp port, remote port and broadcast mode now can be changed dynamically via parameters.
104 lines
2.3 KiB
Bash
104 lines
2.3 KiB
Bash
#!/bin/sh
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# PX4 commands need the 'px4-' prefix in bash.
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# (px4-alias.sh is expected to be in the PATH)
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. px4-alias.sh
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muorb start
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# We need to wait until the DSP side is ready before
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# sending commands with qshell.
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sleep 1
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# default, generic quad platform
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if param compare SYS_AUTOSTART 4100
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then
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param set MAV_TYPE 2
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qshell pwm_out_rc_in start -d /dev/tty-2
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qshell gps start -d /dev/tty-4
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qshell hmc5883 start
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# Qualcomm 200qx microheli platform
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elif param compare SYS_AUTOSTART 4200
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then
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param set MAV_TYPE 2
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param set MC_YAW_P 7.0
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param set MC_YAWRATE_P 0.08
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param set MC_YAWRATE_I 0.0
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param set MC_YAWRATE_D 0
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param set MC_PITCH_P 7.0
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param set MC_PITCHRATE_P 0.08
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param set MC_PITCHRATE_I 0.0
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param set MC_PITCHRATE_D 0.0001
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param set MC_ROLL_P 7.0
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param set MC_ROLLRATE_P 0.08
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param set MC_ROLLRATE_I 0.0
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param set MC_ROLLRATE_D 0.0001
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param set SENS_BOARD_ROT 0
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# Qualcomm internal 210qc platform
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elif param compare SYS_AUTOSTART 4210
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then
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param set MAV_TYPE 2
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param set MC_YAW_P 12
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param set MC_YAWRATE_P 0.08
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param set MC_YAWRATE_I 0.0
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param set MC_YAWRATE_D 0
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param set MC_PITCH_P 7.0
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param set MC_PITCHRATE_P 0.08
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param set MC_PITCHRATE_I 0.0
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param set MC_PITCHRATE_D 0.001
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param set MC_ROLL_P 7.0
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param set MC_ROLLRATE_P 0.08
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param set MC_ROLLRATE_I 0.0
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param set MC_ROLLRATE_D 0.001
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param set SENS_BOARD_ROT 0
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else
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echo "NO AIRFRAME CHOSEN!"
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echo "Please set parameter to select airframe:"
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echo " SYS_AUTOSTART 4100: generic (flight) Quad"
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echo " SYS_AUTOSTART 4200: Microheli 200QX"
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fi
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qshell mpu9250 start
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qshell bmp280 start
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qshell rc_update start
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qshell sensors start
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if param compare SYS_MC_EST_GROUP 1
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then
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qshell attitude_estimator_q start
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qshell local_position_estimator start
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elif param compare SYS_MC_EST_GROUP 2
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then
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param set EKF2_GBIAS_INIT 0.01
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param set EKF2_ANGERR_INIT 0.01
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qshell ekf2 start
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else
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echo "No estimator chosen"
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exit -1
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fi
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qshell commander start
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qshell land_detector start multicopter
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qshell mc_hover_thrust_estimator start
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qshell flight_mode_manager start
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qshell mc_pos_control start
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qshell mc_att_control start
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qshell mc_rate_control start
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logger start -b 200 -t
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dataman start
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navigator start
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mavlink start -u 14556 -r 1000000 -p
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mavlink stream -u 14556 -s HIGHRES_IMU -r 50
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mavlink stream -u 14556 -s ATTITUDE -r 50
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mavlink stream -u 14556 -s RC_CHANNELS -r 20
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mavlink boot_complete
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