mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-16 20:57:36 +08:00
Beat Küng
211 lines
5.2 KiB
Bash
211 lines
5.2 KiB
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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uorb start
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muorb start
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# We need to wait until the DSP side is ready before
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# sending commands with qshell.
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sleep 1
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# default, generic quad platform
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if param compare SYS_AUTOSTART 4100
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then
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param set MAV_TYPE 2
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qshell pwm_out_rc_in start -d /dev/tty-2
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qshell gps start -d /dev/tty-4
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qshell df_hmc5883_wrapper start
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qshell df_trone_wrapper start
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#qshell df_isl29501_wrapper start
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# Qualcomm 200qx microheli platform
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elif param compare SYS_AUTOSTART 4200
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then
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param set CAL_GYRO0_ID 100
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param set CAL_ACC0_ID 100
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param set CAL_MAG0_ID 101
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param set MAV_TYPE 2
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param set MC_YAW_P 7.0
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param set MC_YAWRATE_P 0.08
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param set MC_YAWRATE_I 0.0
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param set MC_YAWRATE_D 0
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param set MC_PITCH_P 7.0
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param set MC_PITCHRATE_P 0.08
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param set MC_PITCHRATE_I 0.0
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param set MC_PITCHRATE_D 0.0001
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param set MC_ROLL_P 7.0
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param set MC_ROLLRATE_P 0.08
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param set MC_ROLLRATE_I 0.0
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param set MC_ROLLRATE_D 0.0001
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param set RC_MAP_THROTTLE 1
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param set RC_MAP_ROLL 2
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param set RC_MAP_PITCH 3
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param set RC_MAP_YAW 4
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param set RC_MAP_MODE_SW 5
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param set RC_MAP_POSCTL_SW 6
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param set RC1_MAX 1900
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param set RC1_MIN 1099
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param set RC1_TRIM 1099
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param set RC1_REV 1
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param set RC2_MAX 1900
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param set RC2_MIN 1099
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param set RC2_TRIM 1500
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param set RC2_REV -1
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param set RC3_MAX 1900
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param set RC3_MIN 1099
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param set RC3_TRIM 1500
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param set RC3_REV 1
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param set RC4_MAX 1900
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param set RC4_MIN 1099
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param set RC4_TRIM 1500
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param set RC4_REV -1
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param set RC5_MAX 1900
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param set RC5_MIN 1099
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param set RC5_TRIM 1500
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param set RC5_REV 1
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param set RC6_MAX 1900
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param set RC6_MIN 1099
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param set RC6_TRIM 1099
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param set RC6_REV 1
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param set ATT_W_MAG 0.00
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param set PE_MAG_NOISE 1.0f
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param set SENS_BOARD_ROT 0
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param set RC_RECEIVER_TYPE 1
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param set UART_ESC_MODEL 2
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param set UART_ESC_BAUDRTE 250000
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param set UART_ESC_MOTOR1 4
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param set UART_ESC_MOTOR2 2
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param set UART_ESC_MOTOR3 1
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param set UART_ESC_MOTOR4 3
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qshell uart_esc start -D /dev/tty-2
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qshell rc_receiver start -D /dev/tty-1
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# Qualcomm internal 210qc platform
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elif param compare SYS_AUTOSTART 4210
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then
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param set CAL_GYRO0_ID 100
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param set CAL_ACC0_ID 100
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param set CAL_MAG0_ID 101
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param set MAV_TYPE 2
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param set MC_YAW_P 12
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param set MC_YAWRATE_P 0.08
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param set MC_YAWRATE_I 0.0
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param set MC_YAWRATE_D 0
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param set MC_PITCH_P 7.0
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param set MC_PITCHRATE_P 0.08
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param set MC_PITCHRATE_I 0.0
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param set MC_PITCHRATE_D 0.001
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param set MC_ROLL_P 7.0
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param set MC_ROLLRATE_P 0.08
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param set MC_ROLLRATE_I 0.0
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param set MC_ROLLRATE_D 0.001
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param set RC_MAP_THROTTLE 1
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param set RC_MAP_ROLL 2
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param set RC_MAP_PITCH 3
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param set RC_MAP_YAW 4
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param set RC_MAP_MODE_SW 5
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param set RC_MAP_POSCTL_SW 6
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param set RC1_MAX 1900
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param set RC1_MIN 1099
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param set RC1_TRIM 1099
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param set RC1_REV 1
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param set RC2_MAX 1900
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param set RC2_MIN 1099
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param set RC2_TRIM 1500
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param set RC2_REV -1
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param set RC3_MAX 1900
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param set RC3_MIN 1099
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param set RC3_TRIM 1500
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param set RC3_REV 1
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param set RC4_MAX 1900
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param set RC4_MIN 1099
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param set RC4_TRIM 1500
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param set RC4_REV -1
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param set RC5_MAX 1900
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param set RC5_MIN 1099
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param set RC5_TRIM 1500
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param set RC5_REV 1
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param set RC6_MAX 1900
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param set RC6_MIN 1099
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param set RC6_TRIM 1099
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param set RC6_REV 1
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param set ATT_W_MAG 0.00
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param set PE_MAG_NOISE 1.0f
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param set SENS_BOARD_ROT 0
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param set CAL_GYRO0_XOFF -0.0028
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param set CAL_GYRO0_YOFF -0.0047
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param set CAL_GYRO0_ZOFF -0.0034
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param set CAL_GYRO0_XSCALE 1.0000
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param set CAL_GYRO0_YSCALE 1.0000
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param set CAL_GYRO0_ZSCALE 1.0000
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param set CAL_MAG0_XOFF 0.0000
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param set CAL_MAG0_YOFF 0.0000
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param set CAL_MAG0_ZOFF 0.0000
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param set CAL_MAG0_XSCALE 1.0000
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param set CAL_MAG0_YSCALE 1.0000
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param set CAL_MAG0_ZSCALE 1.0000
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param set CAL_ACC0_XOFF -0.0941
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param set CAL_ACC0_YOFF 0.1168
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param set CAL_ACC0_ZOFF -0.0398
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param set CAL_ACC0_XSCALE 1.0004
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param set CAL_ACC0_YSCALE 0.9974
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param set CAL_ACC0_ZSCALE 0.9951
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param set RC_RECEIVER_TYPE 1
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param set UART_ESC_MODEL 2
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param set UART_ESC_BAUDRTE 250000
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param set UART_ESC_MOTOR1 4
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param set UART_ESC_MOTOR2 2
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param set UART_ESC_MOTOR3 1
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param set UART_ESC_MOTOR4 3
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uart_esc start -D /dev/tty-2
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rc_receiver start -D /dev/tty-1
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else
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echo "NO AIRFRAME CHOSEN!"
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echo "Please set parameter to select airframe:"
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echo " SYS_AUTOSTART 4100: generic (flight) Quad"
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echo " SYS_AUTOSTART 4200: Microheli 200QX"
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fi
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qshell df_mpu9250_wrapper start
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qshell df_bmp280_wrapper start
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qshell sensors start
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if param compare SYS_MC_EST_GROUP 1
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then
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qshell attitude_estimator_q start
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qshell local_position_estimator start
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elif param compare SYS_MC_EST_GROUP 2
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then
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param set EKF2_GBIAS_INIT 0.01
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param set EKF2_ANGERR_INIT 0.01
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qshell ekf2 start
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else
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echo "No estimator chosen"
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exit -1
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fi
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qshell commander start
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qshell land_detector start multicopter
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qshell mc_pos_control start
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qshell mc_att_control start
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logger start -b 200 -t
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param set MAV_BROADCAST 1
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dataman start
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navigator start
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mavlink start -u 14556 -r 1000000
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mavlink stream -u 14556 -s HIGHRES_IMU -r 50
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mavlink stream -u 14556 -s ATTITUDE -r 50
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mavlink stream -u 14556 -s RC_CHANNELS -r 20
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mavlink boot_complete
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