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