mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-29 01:33:34 +08:00
Balduin
b3c1d91408
AFAIK this is not done anywhere else for SIH-as-SITL. Just below for gazebo it is already present. the corresponding check for SIH-on-FC happens at ROMFS/px4fmu_common/init.d/rcS:388 - also no airspeed is enabled anywhere. is that intended? also, handle airspeed failure correctly in SensorAirspeedSim.cpp
66 lines
1.4 KiB
Bash
66 lines
1.4 KiB
Bash
#!/bin/sh
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# shellcheck disable=SC2154
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# Simulator IMU data provided at 250 Hz
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param set-default IMU_INTEG_RATE 250
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# For simulation, allow registering modes while armed for developer convenience
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param set-default COM_MODE_ARM_CHK 1
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if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
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echo "INFO [init] SIH simulator"
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if [ -n "${PX4_HOME_LAT}" ]; then
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param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
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fi
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if [ -n "${PX4_HOME_LON}" ]; then
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param set SIH_LOC_LON0 ${PX4_HOME_LON}
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fi
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if [ -n "${PX4_HOME_ALT}" ]; then
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param set SIH_LOC_H0 ${PX4_HOME_ALT}
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fi
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if simulator_sih start; then
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if param compare -s SENS_EN_BAROSIM 1
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then
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sensor_baro_sim start
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fi
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if param compare -s SENS_EN_GPSSIM 1
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then
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sensor_gps_sim start
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fi
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if param compare -s SENS_EN_MAGSIM 1
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then
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sensor_mag_sim start
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fi
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if param compare -s SENS_EN_ARSPDSIM 1
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then
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sensor_airspeed_sim start
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fi
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if param compare -s SENS_EN_AGPSIM 1
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then
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sensor_agp_sim start
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fi
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else
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echo "ERROR [init] simulator_sih failed to start"
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exit 1
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fi
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elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
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# Run Gazebo (gz)
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. px4-rc.gzsim
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elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
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# Run jMAVSim
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. px4-rc.jmavsim
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else
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# Run simulator_mavlink module for interface with gazebo-classic
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. px4-rc.mavlinksim
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fi
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