mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 15:58:53 +08:00
Daniel Agarandbresch
f9794e99f8
* MC_HTE: unitialize with hover_thrust parameter * MC_HTE: constrain hover thrust setter between 0.1 and 0.9 * MC_HTE: integrate with land detector and velocity controller * MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value. * MC_HTE: use altitude agl threshold to start the estimator local_position.z is relative to the origin of the EKF while dist_bottom is above ground Co-authored-by: bresch <brescianimathieu@gmail.com>
42 lines
786 B
Bash
42 lines
786 B
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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# HITL configuration
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# connect to it with jMAVSim:
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# ./Tools/jmavsim_run.sh -q -i <IP> -p 14577 -r 250
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uorb start
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if [ -f eeprom/parameters ]
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then
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param load
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fi
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param set SYS_AUTOSTART 1001
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param set MAV_BROADCAST 1
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param set MAV_TYPE 2
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dataman start
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rc_update start
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sensors start -hil
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commander start -hil
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navigator start
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ekf2 start
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land_detector start multicopter
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mc_hover_thrust_estimator start
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mc_pos_control start
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mc_att_control start
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mc_rate_control start
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mavlink start -x -u 14577 -r 1000000
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navio_sysfs_rc_in start
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pwm_out_sim start
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mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
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logger start -t -b 200
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mavlink boot_complete
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