mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-20 19:37:35 +08:00
Daniel Agar
5247db7647
- parameter backend is now running in a wq and accessible over pub/sub - parameters library can call into backend directly (with locking), but operations will gradually start moving to pub/sub - majority of parameters migrated as is, only small changes to parameter autosave and parameter notification that are now performed from the WQ thread
323 lines
7.9 KiB
Bash
323 lines
7.9 KiB
Bash
#!/bin/sh
|
|
|
|
# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
|
|
set +e
|
|
# Un comment the line below to help debug scripts by printing a trace of the script commands
|
|
#set -x
|
|
|
|
# PX4 commands need the 'px4-' prefix in bash.
|
|
# (px4-alias.sh is expected to be in the PATH)
|
|
# shellcheck disable=SC1091
|
|
. px4-alias.sh
|
|
|
|
#search path for sourcing px4-rc.*
|
|
PATH="$PATH:${R}etc/init.d-posix"
|
|
|
|
#
|
|
# Main SITL startup script
|
|
#
|
|
|
|
# check for ekf2 replay
|
|
# shellcheck disable=SC2154
|
|
if [ "$replay_mode" = "ekf2" ]
|
|
then
|
|
. ${R}etc/init.d-posix/rc.replay
|
|
exit 0
|
|
fi
|
|
|
|
# initialize script variables
|
|
set VEHICLE_TYPE none
|
|
set LOGGER_ARGS ""
|
|
set LOGGER_BUF 1000
|
|
|
|
set RUN_MINIMAL_SHELL no
|
|
|
|
set SYS_AUTOSTART=0
|
|
|
|
if [ "$PX4_SIM_MODEL" = "shell" ]
|
|
then
|
|
set RUN_MINIMAL_SHELL yes
|
|
|
|
elif [ -n "$PX4_SYS_AUTOSTART" ]
|
|
then
|
|
echo "env SYS_AUTOSTART: ${PX4_SYS_AUTOSTART}"
|
|
SYS_AUTOSTART=${PX4_SYS_AUTOSTART}
|
|
|
|
elif [ "$PX4_SIM_MODEL" = "none" ] || [ -z $PX4_SIM_MODEL ]
|
|
then
|
|
# no airframe selected
|
|
SYS_AUTOSTART=0
|
|
|
|
elif [ -n "$PX4_SIM_MODEL" ]
|
|
then
|
|
# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
|
|
# TODO: unify with rc.autostart generation
|
|
# shellcheck disable=SC2012
|
|
REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
|
|
if [ -z "$REQUESTED_AUTOSTART" ]; then
|
|
echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
|
|
exit 1
|
|
else
|
|
SYS_AUTOSTART=$REQUESTED_AUTOSTART
|
|
echo "INFO [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
|
|
fi
|
|
fi
|
|
|
|
# Load parameters
|
|
set PARAM_FILE parameters.bson
|
|
set PARAM_BACKUP_FILE parameters_backup.bson
|
|
|
|
param select $PARAM_FILE
|
|
if [ -f $PARAM_FILE ]; then
|
|
|
|
if ! param import
|
|
then
|
|
echo "ERROR [init] param import failed"
|
|
|
|
bsondump $PARAM_FILE
|
|
|
|
# try to make a backup copy
|
|
cp $PARAM_FILE param_import_fail.bson
|
|
|
|
# try importing from backup file
|
|
if [ -f $PARAM_BACKUP_FILE ]
|
|
then
|
|
echo "[init] importing from parameter backup"
|
|
|
|
# dump current backup file contents for comparison
|
|
bsondump $PARAM_BACKUP_FILE
|
|
|
|
param import $PARAM_BACKUP_FILE
|
|
|
|
# overwrite invalid $PARAM_FILE with backup
|
|
cp $PARAM_BACKUP_FILE $PARAM_FILE
|
|
fi
|
|
|
|
param status
|
|
fi
|
|
|
|
elif [ -f $PARAM_BACKUP_FILE ]; then
|
|
echo "ERROR [init] primary param file $PARAM_FILE unavailable, using backup $PARAM_BACKUP_FILE"
|
|
param import $PARAM_BACKUP_FILE
|
|
fi
|
|
|
|
param select-backup $PARAM_BACKUP_FILE
|
|
|
|
|
|
# exit early when the minimal shell is requested
|
|
[ $RUN_MINIMAL_SHELL = yes ] && exit 0
|
|
|
|
if param compare SYS_AUTOSTART $SYS_AUTOSTART
|
|
then
|
|
set AUTOCNF no
|
|
|
|
elif [ "$SYS_AUTOSTART" -eq 0 ]
|
|
then
|
|
set AUTOCNF no
|
|
else
|
|
set AUTOCNF yes
|
|
param set SYS_AUTOCONFIG 1
|
|
fi
|
|
|
|
if param compare SYS_AUTOCONFIG 1
|
|
then
|
|
# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
|
|
param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
|
|
set AUTOCNF yes
|
|
fi
|
|
|
|
# multi-instance setup
|
|
# shellcheck disable=SC2154
|
|
param set MAV_SYS_ID $((px4_instance+1))
|
|
|
|
if [ $AUTOCNF = yes ]
|
|
then
|
|
param set SYS_AUTOSTART $SYS_AUTOSTART
|
|
|
|
param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
|
|
param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
|
|
param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
|
|
param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
|
|
param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
|
|
param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
|
|
|
|
param set CAL_MAG0_ID 197388
|
|
param set CAL_MAG0_PRIO 50
|
|
param set CAL_MAG1_ID 197644
|
|
param set CAL_MAG1_PRIO 50
|
|
|
|
param set SENS_BOARD_X_OFF 0.000001
|
|
param set SENS_DPRES_OFF 0.001
|
|
fi
|
|
|
|
param set-default BAT1_N_CELLS 4
|
|
|
|
param set-default CBRK_AIRSPD_CHK 0
|
|
param set-default CBRK_SUPPLY_CHK 894281
|
|
|
|
# disable check, no CPU load reported on posix yet
|
|
param set-default COM_CPU_MAX -1
|
|
|
|
# Don't require RC calibration and configuration
|
|
param set-default COM_RC_IN_MODE 1
|
|
|
|
# Speedup SITL startup
|
|
param set-default EKF2_REQ_GPS_H 0.5
|
|
|
|
# Multi-EKF
|
|
param set-default EKF2_MULTI_IMU 3
|
|
param set-default SENS_IMU_MODE 0
|
|
param set-default EKF2_MULTI_MAG 2
|
|
param set-default SENS_MAG_MODE 0
|
|
|
|
param set-default IMU_GYRO_FFT_EN 1
|
|
param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets
|
|
|
|
param set-default -s MC_AT_EN 1
|
|
|
|
# By default log from boot until first disarm.
|
|
param set-default SDLOG_MODE 1
|
|
# enable default, estimator replay and vision/avoidance logging profiles
|
|
param set-default SDLOG_PROFILE 131
|
|
param set-default SDLOG_DIRS_MAX 7
|
|
|
|
param set-default TRIG_INTERFACE 3
|
|
|
|
param set-default SYS_FAILURE_EN 1
|
|
|
|
# Adapt timeout parameters if simulation runs faster or slower than realtime.
|
|
if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
|
|
COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
|
|
echo "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
|
|
param set COM_DL_LOSS_T $COM_DL_LOSS_T_LONGER
|
|
|
|
COM_RC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
|
|
echo "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
|
|
param set COM_RC_LOSS_T $COM_RC_LOSS_T_LONGER
|
|
|
|
COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
|
|
echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
|
|
param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
|
|
|
|
COM_OBC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 5.0" | bc)
|
|
echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
|
|
param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
|
|
fi
|
|
|
|
# Autostart ID
|
|
autostart_file=''
|
|
# shellcheck disable=SC2231
|
|
for f in ${R}etc/init.d-posix/airframes/"$(param show -q SYS_AUTOSTART)"_*
|
|
do
|
|
filename=$(basename "$f")
|
|
case "$filename" in
|
|
*\.*)
|
|
# ignore files that contain a dot (e.g. <vehicle>.post)
|
|
;;
|
|
*)
|
|
autostart_file="$f"
|
|
;;
|
|
esac
|
|
done
|
|
|
|
if [ -e "$autostart_file" ]
|
|
then
|
|
. "$autostart_file"
|
|
|
|
elif [ ! -e "$autostart_file" ] && [ "$SYS_AUTOSTART" -ne "0" ]
|
|
then
|
|
echo "Error: no autostart file found ($autostart_file)"
|
|
#exit 1
|
|
fi
|
|
|
|
#user defined params for instances can be in PATH
|
|
. px4-rc.params
|
|
|
|
dataman start
|
|
|
|
# only start the simulator if not in replay mode, as both control the lockstep time
|
|
if ! replay tryapplyparams
|
|
then
|
|
. px4-rc.simulator
|
|
fi
|
|
|
|
load_mon start
|
|
battery_simulator start
|
|
tone_alarm start
|
|
rc_update start
|
|
manual_control start
|
|
sensors start
|
|
commander start
|
|
|
|
if ! pwm_out_sim start -m sim
|
|
then
|
|
tune_control play error
|
|
fi
|
|
|
|
#
|
|
# Configure vehicle type specific parameters.
|
|
# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
|
|
. ${R}etc/init.d/rc.vehicle_setup
|
|
|
|
navigator start
|
|
|
|
# Try to start the microdds_client with UDP transport if module exists
|
|
microdds_ns=""
|
|
if [ "$px4_instance" -ne "0" ]
|
|
then
|
|
# Assign new xrce dds key based on instance number and set default namespace
|
|
param set XRCE_DDS_KEY ${px4_instance}
|
|
microdds_ns="-n px4_$px4_instance"
|
|
fi
|
|
if [ -n "$PX4_MICRODDS_NS" ]
|
|
then
|
|
# Override namespace if environment variable is defined
|
|
microdds_ns="-n $PX4_MICRODDS_NS"
|
|
fi
|
|
microdds_client start -t udp -p 8888 $microdds_ns
|
|
|
|
if param greater -s MNT_MODE_IN -1
|
|
then
|
|
gimbal start
|
|
fi
|
|
|
|
if param greater -s TRIG_MODE 0
|
|
then
|
|
camera_trigger start
|
|
camera_feedback start
|
|
fi
|
|
|
|
if param compare -s IMU_GYRO_FFT_EN 1
|
|
then
|
|
gyro_fft start
|
|
fi
|
|
|
|
if param compare -s IMU_GYRO_CAL_EN 1
|
|
then
|
|
gyro_calibration start
|
|
fi
|
|
|
|
# Payload deliverer module if gripper is enabled
|
|
if param compare -s PD_GRIPPER_EN 1
|
|
then
|
|
payload_deliverer start
|
|
fi
|
|
|
|
#user defined mavlink streams for instances can be in PATH
|
|
. px4-rc.mavlink
|
|
|
|
# execute autostart post script if any
|
|
[ -e "$autostart_file".post ] && . "$autostart_file".post
|
|
|
|
# Run script to start logging
|
|
if param compare SYS_MC_EST_GROUP 2
|
|
then
|
|
set LOGGER_ARGS "-p ekf2_timestamps"
|
|
else
|
|
set LOGGER_ARGS "-p vehicle_attitude"
|
|
fi
|
|
. ${R}etc/init.d/rc.logging
|
|
|
|
mavlink boot_complete
|
|
replay trystart
|