mirror of https://github.com/ArduPilot/ardupilot
44 lines
1.1 KiB
Bash
44 lines
1.1 KiB
Bash
|
#!/bin/bash
|
||
|
|
|
||
|
|
# assume we start the script from the root directory
|
||
|
|
ROOTDIR=$PWD
|
||
|
|
ROVER=$ROOTDIR/build/sitl/bin/ardurover
|
||
|
|
|
||
|
|
GCS_IP=192.168.2.48
|
||
|
|
|
||
|
|
BASE_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/rover.parm,$ROOTDIR/Tools/autotest/default_params/rover-skid.parm"
|
||
|
|
|
||
|
|
# start up main rover in the current directory
|
||
|
|
$ROVER --model morse-rover --uartA udpclient:$GCS_IP --uartC mcast: --defaults $BASE_DEFAULTS &
|
||
|
|
|
||
|
|
# now start 2 rovers to follow the first, using
|
||
|
|
# a separate directory for each to keep the eeprom.bin
|
||
|
|
# and logs separate
|
||
|
|
for i in $(seq 2); do
|
||
|
|
echo "Starting rover $i"
|
||
|
|
port1=$(expr 60000 + $i \* 2)
|
||
|
|
port2=$(expr 60001 + $i \* 2)
|
||
|
|
mkdir -p rov$i
|
||
|
|
|
||
|
|
SYSID=$(expr $i + 1)
|
||
|
|
FOLL_SYSID=$(expr $SYSID - 1)
|
||
|
|
|
||
|
|
# create default parameter file for the follower
|
||
|
|
cat <<EOF > rov$i/follow.parm
|
||
|
|
SYSID_THISMAV $SYSID
|
||
|
|
SERVO1_FUNCTION 73
|
||
|
|
SERVO3_FUNCTION 74
|
||
|
|
INITIAL_MODE 6
|
||
|
|
MODE6 6
|
||
|
|
FOLL_ENABLE 1
|
||
|
|
FOLL_OFS_X -5
|
||
|
|
FOLL_OFS_TYPE 1
|
||
|
|
FOLL_SYSID $FOLL_SYSID
|
||
|
|
FOLL_DIST_MAX 1000
|
||
|
|
EOF
|
||
|
|
pushd rov$i
|
||
|
|
$ROVER --model "morse-rover:127.0.0.1:$port1:$port2" --uartA tcp:0 --uartC mcast: --instance $i --defaults $BASE_DEFAULTS,follow.parm &
|
||
|
|
popd
|
||
|
|
done
|
||
|
|
wait
|