mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 09:03:34 +08:00
76 lines
1.0 KiB
Plaintext
76 lines
1.0 KiB
Plaintext
#!nsh
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echo "[init] bottle drop test
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#
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# Load default params for this platform
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#
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if param compare SYS_AUTOCONFIG 1
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then
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# Set all params here, then disable autoconfig
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param set SYS_AUTOCONFIG 0
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param save
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fi
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#
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# Force some key parameters to sane values
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# MAV_TYPE 2 = quadrotor
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#
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param set MAV_TYPE 2
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set EXIT_ON_END no
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#
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# Start and configure PX4IO and FMU interface
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#
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# Start MAVLink (depends on orb)
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mavlink start
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usleep 5000
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#
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# Start the sensors and test them.
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#
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sh /etc/init.d/rc.sensors
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#
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# Start logging (depends on sensors)
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#
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#sh /etc/init.d/rc.logging
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sdlog2 start -r 200 -e -b 16
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#
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# Start GPS interface (depends on orb)
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#
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gps start
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#
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# Start the attitude estimator
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#
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attitude_estimator_ekf start
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#
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# Start position estimator
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#
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position_estimator_inav start
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sh /etc/init.d/rc.io
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fmu mode_pwm
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mixer load /dev/px4fmu /etc/mixers/FMU_pass.mix
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pwm min -d /dev/px4fmu -c 123 -p 900
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pwm max -d /dev/px4fmu -c 123 -p 2100
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pwm arm -d /dev/px4fmu
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bottle_drop start
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if [ $EXIT_ON_END == yes ]
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then
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exit
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fi
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