mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-11 21:41:37 +08:00
Daniel Agar
4040e4cdf2
- new modules/simulation directory to collect all simulators and related modules - new Tools/simulation directory to collect and organize scattered simulation submodules, scripts, etc - simulation module renamed to simulator_mavlink - sih renamed to simulator_sih (not a great name, but I wanted to be clear it was a simulator) - ignition_simulator renamed to simulator_ignition_bridge - large sitl_target.cmake split by simulation option and in some cases pushed to appropriate modules - sitl targets broken down to what's actually available (eg jmavsim only has 1 model and 1 world) - new Gazebo consistently referred to as Ignition for now (probably the least confusing thing until we fully drop Gazebo classic support someday)
95 lines
1.4 KiB
Bash
95 lines
1.4 KiB
Bash
#!/bin/sh
|
|
# PX4 commands need the 'px4-' prefix in bash.
|
|
# (px4-alias.sh is expected to be in the PATH)
|
|
. px4-alias.sh
|
|
|
|
# navio config for simple testing
|
|
|
|
param select parameters.bson
|
|
param import
|
|
|
|
param set CBRK_SUPPLY_CHK 894281
|
|
param set SYS_AUTOSTART 4001
|
|
param set MAV_TYPE 2
|
|
|
|
# Multi-EKF
|
|
param set EKF2_MULTI_IMU 2
|
|
param set SENS_IMU_MODE 0
|
|
|
|
dataman start
|
|
|
|
load_mon start
|
|
|
|
mpu9250 -s -R 2 start
|
|
lsm9ds1 -s -R 4 start
|
|
lsm9ds1_mag -s -R 4 start
|
|
ms5611 -X start
|
|
|
|
navio_rgbled start
|
|
|
|
board_adc start
|
|
battery_status start
|
|
|
|
gps start -d /dev/spidev0.0 -i spi -p ubx
|
|
rc_update start
|
|
sensors start
|
|
commander start
|
|
navigator start
|
|
ekf2 start
|
|
land_detector start multicopter
|
|
mc_hover_thrust_estimator start
|
|
flight_mode_manager start
|
|
mc_pos_control start
|
|
mc_att_control start
|
|
|
|
mavlink start -x -u 14556 -r 1000000 -p
|
|
|
|
if [ -c /dev/ttyUSB0 ]
|
|
then
|
|
mavlink start -x -d /dev/ttyUSB0
|
|
elif [ -c /dev/ttyAMA0 ]
|
|
then
|
|
mavlink start -x -d /dev/ttyAMA0
|
|
fi
|
|
|
|
navio_sysfs_rc_in start
|
|
linux_pwm_out start
|
|
mixer load /dev/pwm_out etc/mixers/quad_x.main.mix
|
|
|
|
logger start -t -f -b 200
|
|
|
|
mavlink boot_complete
|
|
|
|
sleep 5
|
|
|
|
ver all
|
|
sleep 1
|
|
commander check
|
|
sleep 1
|
|
dataman status
|
|
sleep 1
|
|
ekf2 status
|
|
sleep 1
|
|
logger status
|
|
sleep 1
|
|
mavlink status
|
|
sleep 1
|
|
mavlink status streams
|
|
sleep 1
|
|
param status
|
|
sleep 1
|
|
pwm info
|
|
sleep 1
|
|
sensors status
|
|
sleep 1
|
|
perf
|
|
sleep 1
|
|
perf latency
|
|
sleep 1
|
|
work_queue status
|
|
sleep 1
|
|
uorb top -1
|
|
sleep 1
|
|
|
|
shutdown
|