mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
7822e5b5c3
- move posix-configs/SITL/init/{rcS,10016_iris,6011_typhoon_h480} to ROMFS/px4fmu_common/init.d-posix
allows for easier unification, only one symlink is required.
- rcS: add AUTOCNF support. Update scripts to match with behavior of PX4
master (parameter values, some sitl driver got removed)
- add alias to allow 'set variable value' syntax in scripts to px4-alias.sh
- use px4_getopt
- use separate argument for the test_data directory
- append PATH from within the px4 binary: this simplifies the usage
w/o the sitl_run.sh script.
- add 'source px4-alias.sh' to all existing sitl startup scripts
- move sitl mixers to ROMFS/px4fmu_common/mixers-sitl
makes it easier to use existing mixers and sitl-specific ones.
- remove unused rcS_gazebo_delta_wing
42 lines
871 B
Bash
42 lines
871 B
Bash
#!/usr/bin/bash
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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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source px4-alias.sh
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uorb start
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param load
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param set CAL_GYRO0_ID 2293768
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param set CAL_ACC0_ID 1376264
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param set CAL_ACC1_ID 1310728
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param set CAL_MAG0_ID 196616
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param set COM_DISARM_LAND 0
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param set MAV_TYPE 3
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param set SDLOG_DIRS_MAX 7
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param set SYS_AUTOSTART 4010
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param set SYS_RESTART_TYPE 2
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dataman start
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simulator start -s
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pwm_out_sim start
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mixer load /dev/pwm_output0 etc/mixers/uuv_quad_x.mix
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gyrosim start
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accelsim start
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barosim start
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sleep 1
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sensors start
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commander start
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attitude_estimator_q start
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mavlink start -x -u 14556 -r 4000000
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mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
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mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
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mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
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logger start -r 100 -e
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mavlink boot_complete
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