mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 03:23:34 +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)
42 lines
1.9 KiB
Bash
42 lines
1.9 KiB
Bash
#!/bin/sh
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# shellcheck disable=SC2154
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udp_offboard_port_local=$((14580+px4_instance))
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udp_offboard_port_remote=$((14540+px4_instance))
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[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
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udp_onboard_payload_port_local=$((14280+px4_instance))
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udp_onboard_payload_port_remote=$((14030+px4_instance))
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udp_onboard_gimbal_port_local=$((13030+px4_instance))
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udp_onboard_gimbal_port_remote=$((13280+px4_instance))
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udp_gcs_port_local=$((18570+px4_instance))
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# GCS link
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mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
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mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
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mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
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mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
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mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
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mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
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mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
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mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
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mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
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mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
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# API/Offboard link
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mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
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# Onboard link to camera
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mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
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# Onboard link to gimbal
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mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
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# To display for SIH sitl
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if [ "$PX4_SIMULATOR" = "sihsim" ]; then
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udp_sihsim_port_local=$((19450+px4_instance))
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udp_sihsim_port_remote=$((19410+px4_instance))
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mavlink start -x -u $udp_sihsim_port_local -r 400000 -m custom -o $udp_sihsim_port_remote
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mavlink stream -r 200 -s HIL_ACTUATOR_CONTROLS -u $udp_sihsim_port_local
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mavlink stream -r 25 -s HIL_STATE_QUATERNION -u $udp_sihsim_port_local
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fi
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