mirror of https://github.com/ArduPilot/ardupilot
37 lines
910 B
Bash
Executable File
37 lines
910 B
Bash
Executable File
#!/bin/bash
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# a quad following a plane
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# assume we start the script from the root directory
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ROOTDIR=$PWD
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COPTER=$ROOTDIR/build/sitl/bin/arducopter
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PLANE=$ROOTDIR/build/sitl/bin/arduplane
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[ -x "$COPTER" -a -x "$PLANE" ] || {
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./waf configure --board sitl
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./waf plane copter
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}
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# setup for either TCP or multicast
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#UARTA="tcp:0"
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UARTA="mcast:"
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PLANE_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/plane.parm"
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COPTER_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/copter.parm"
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mkdir -p swarm/plane swarm/copter
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(cd swarm/plane && $PLANE --model plane --uartA $UARTA --defaults $PLANE_DEFAULTS) &
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# create default parameter file for the follower
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cat <<EOF > swarm/copter/follow.parm
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SYSID_THISMAV 2
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FOLL_ENABLE 1
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FOLL_OFS_X -5
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FOLL_OFS_TYPE 1
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FOLL_SYSID 1
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FOLL_DIST_MAX 1000
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EOF
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(cd swarm/copter && $COPTER --model quad --uartA $UARTA --instance 1 --defaults $COPTER_DEFAULTS,follow.parm) &
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wait
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