From 1348e37ef05175c40f598068d3dda2f43fecbe5a Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 31 Mar 2018 20:07:48 +1100 Subject: [PATCH] Tools: Vagrant: install a mavinit.scr --- Tools/vagrant/initvagrant.sh | 3 + Tools/vagrant/mavinit.scr | 236 +++++++++++++++++++++++++++++++++++ 2 files changed, 239 insertions(+) create mode 100644 Tools/vagrant/mavinit.scr diff --git a/Tools/vagrant/initvagrant.sh b/Tools/vagrant/initvagrant.sh index 746988e719..96b5790a01 100755 --- a/Tools/vagrant/initvagrant.sh +++ b/Tools/vagrant/initvagrant.sh @@ -47,6 +47,9 @@ DOT_PROFILE=/home/$VAGRANT_USER/.profile echo "source /vagrant/Tools/vagrant/shellinit.sh" | sudo -u $VAGRANT_USER dd conv=notrunc oflag=append of=$DOT_PROFILE +# link a half-way decent .mavinit.scr into place: +sudo --login -u $VAGRANT_USER ln -s /vagrant/Tools/vagrant/mavinit.scr /home/$VAGRANT_USER/.mavinit.scr + #Plant a marker for sim_vehicle that we're inside a vagrant box touch /ardupilot.vagrant diff --git a/Tools/vagrant/mavinit.scr b/Tools/vagrant/mavinit.scr new file mode 100644 index 0000000000..80469b33b1 --- /dev/null +++ b/Tools/vagrant/mavinit.scr @@ -0,0 +1,236 @@ +# set moddebug 2 +module load graph +@graph timespan 30 +@alias add minscore remote camera set minscore +@alias add minscore2 remote camera set minscore2 +@alias add movejoe wp movemulti 22 15 27 +@alias add joedropdist wp param 22 2 +@alias add wpedit module load misseditor +@alias add terminate param set AFS_TERMINATE +@alias add termaction param set AFS_TERM_ACTION +@alias add drop servo set 8 1500 +@alias add hold servo set 8 900 +@alias add bdrop servo set 8 1500 +@alias add bhold servo set 8 1000 +@alias add drop2 servo set 6 1050 +@alias add hold2 servo set 6 1480 +@alias add odroidpower relay set 0 +@alias add neutral2 servo set 12 1500 +@alias add ekf param set AHRS_EKF_USE +@alias add gpsdisable param set SIM_GPS_DISABLE +@alias add bb status gps* scaled* raw* +@alias add g graph +@alias add grc3 g RC_CHANNELS.chan3_raw SERVO_OUTPUT_RAW.servo3_raw +@alias add grc25 g RC_CHANNELS.chan2_raw SERVO_OUTPUT_RAW.servo2_raw SERVO_OUTPUT_RAW.servo5_raw +@alias add gflaperon g SERVO_OUTPUT_RAW.servo1_raw SERVO_OUTPUT_RAW.servo7_raw SERVO_OUTPUT_RAW.servo8_raw +@alias add gtracker g wrap_360(degrees(ATTITUDE.yaw)) NAV_CONTROLLER_OUTPUT.target_bearing degrees(ATTITUDE.pitch) NAV_CONTROLLER_OUTPUT.nav_pitch +@alias add gtrackerror g angle_diff(degrees(ATTITUDE.yaw),NAV_CONTROLLER_OUTPUT.target_bearing) angle_diff(degrees(ATTITUDE.pitch),NAV_CONTROLLER_OUTPUT.nav_pitch) +@alias add gaccel g RAW_IMU.xacc*9.81*0.001 RAW_IMU.yacc*9.81*0.001 RAW_IMU.zacc*9.81*0.001 gravity(RAW_IMU) +@alias add gaccelcmp g RAW_IMU.xacc*9.81*0.001 RAW_IMU.yacc*9.81*0.001 RAW_IMU.zacc*9.81*0.001 SCALED_IMU2.xacc*9.81*0.001 SCALED_IMU2.yacc*9.81*0.001 SCALED_IMU2.zacc*9.81*0.001 +@alias add gaccelcmp3 g RAW_IMU.xacc*9.81*0.001 RAW_IMU.yacc*9.81*0.001 RAW_IMU.zacc*9.81*0.001 SCALED_IMU2.xacc*9.81*0.001 SCALED_IMU2.yacc*9.81*0.001 SCALED_IMU2.zacc*9.81*0.001 SCALED_IMU3.xacc*9.81*0.001 SCALED_IMU3.yacc*9.81*0.001 SCALED_IMU3.zacc*9.81*0.001 +@alias add gaccel2 g SCALED_IMU2.xacc*9.81*0.001 SCALED_IMU2.yacc*9.81*0.001 SCALED_IMU2.zacc*9.81*0.001 gravity(SCALED_IMU2) +@alias add gaccel3 g SCALED_IMU3.xacc*9.81*0.001 SCALED_IMU3.yacc*9.81*0.001 SCALED_IMU3.zacc*9.81*0.001 gravity(SCALED_IMU3) +@alias add gaccelxy g RAW_IMU.xacc*9.81*0.001 RAW_IMU.yacc*9.81*0.001 +@alias add gaccelz_filter g RAW_IMU.zacc*9.81*0.001 lowpass(RAW_IMU.zacc*9.81*0.001,"z",0.9) +@alias add ggyro g degrees(RAW_IMU.xgyro*0.001) degrees(RAW_IMU.ygyro*0.001) degrees(RAW_IMU.zgyro*0.001) +@alias add ggyrocmp g degrees(RAW_IMU.xgyro*0.001) degrees(RAW_IMU.ygyro*0.001) degrees(RAW_IMU.zgyro*0.001) degrees(SCALED_IMU2.xgyro*0.001) degrees(SCALED_IMU2.ygyro*0.001) degrees(SCALED_IMU2.zgyro*0.001) +@alias add ggyro2 g degrees(SCALED_IMU2.xgyro*0.001) degrees(SCALED_IMU2.ygyro*0.001) degrees(SCALED_IMU2.zgyro*0.001) +@alias add ggyro_earth g earth_gyro(RAW_IMU,ATTITUDE).x earth_gyro(RAW_IMU,ATTITUDE).y earth_gyro(RAW_IMU,ATTITUDE).z +@alias add grp g degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) +@alias add grpsim g degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) degrees(SIMSTATE.roll) degrees(SIMSTATE.pitch) +@alias add ignitioncut rc 7 1000 +@alias add ignitionon rc 7 2000 +@alias add gsim g degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) degrees(ATTITUDE.yaw) degrees(SIMSTATE.roll) degrees(SIMSTATE.pitch) degrees(SIMSTATE.yaw) +@alias add gsimahrs2 g degrees(AHRS2.roll) degrees(AHRS2.pitch) degrees(AHRS2.yaw) degrees(SIMSTATE.roll) degrees(SIMSTATE.pitch) degrees(SIMSTATE.yaw) +@alias add gahrs2 g degrees(AHRS2.roll) degrees(AHRS2.pitch) degrees(AHRS2.yaw) degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) degrees(ATTITUDE.yaw) +@alias add gahrs2rp g degrees(AHRS2.roll) degrees(AHRS2.pitch) degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) +@alias add gahrs3 g degrees(AHRS3.roll) degrees(AHRS3.pitch) degrees(AHRS3.yaw) degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) degrees(ATTITUDE.yaw) +@alias add gahrs2rp g degrees(AHRS2.roll) degrees(AHRS2.pitch) degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) +@alias add gahrsanuroll g degrees(ATTITUDE.roll) degrees(AHRS2.roll) degrees(AHRS3.roll) +@alias add gahrsanupitch g degrees(ATTITUDE.pitch) degrees(AHRS2.pitch) degrees(AHRS3.pitch) +@alias add gcmppitch g degrees(SIMSTATE.pitch) degrees(ATTITUDE.pitch) degrees(AHRS2.pitch) +@alias add gcmproll g degrees(SIMSTATE.roll) degrees(ATTITUDE.roll) degrees(AHRS2.roll) +@alias add grollp g NAV_CONTROLLER_OUTPUT.nav_roll-degrees(ATTITUDE.roll) (SERVO_OUTPUT_RAW.servo1_raw-MAV.params['RC1_TRIM'])*0.1 +@alias add gradio g RADIO.rssi RADIO.noise RADIO.remrssi RADIO.remnoise +@alias add gbatt g SYS_STATUS.current_battery +@alias add gnavroll g NAV_CONTROLLER_OUTPUT.nav_roll-degrees(ATTITUDE.roll) (SERVO_OUTPUT_RAW.servo1_raw-MAV.params['RC1_TRIM'])*0.1 +@alias add gcontrol g RC_CHANNELS.chan1_raw RC_CHANNELS.chan2_raw SERVO_OUTPUT_RAW.servo1_raw SERVO_OUTPUT_RAW.servo2_raw +@alias add gmag g RAW_IMU.xmag RAW_IMU.ymag RAW_IMU.zmag mag_field(RAW_IMU) +@alias add gmagcmp g RAW_IMU.xmag RAW_IMU.ymag RAW_IMU.zmag SCALED_IMU2.xmag SCALED_IMU2.ymag SCALED_IMU2.zmag +@alias add gmagcmp3 g RAW_IMU.xmag RAW_IMU.ymag RAW_IMU.zmag SCALED_IMU2.xmag SCALED_IMU2.ymag SCALED_IMU2.zmag SCALED_IMU3.xmag SCALED_IMU3.ymag SCALED_IMU3.zmag +@alias add gmag2 g SCALED_IMU2.xmag SCALED_IMU2.ymag SCALED_IMU2.zmag mag_field(SCALED_IMU2) +@alias add gmag3 g SCALED_IMU3.xmag SCALED_IMU3.ymag SCALED_IMU3.zmag mag_field(SCALED_IMU3) +@alias add gmagfield g mag_field(RAW_IMU) +@alias add gmagofs g SENSOR_OFFSETS.mag_ofs_x SENSOR_OFFSETS.mag_ofs_y SENSOR_OFFSETS.mag_ofs_z +@alias add gservo g SERVO_OUTPUT_RAW.servo1_raw SERVO_OUTPUT_RAW.servo2_raw SERVO_OUTPUT_RAW.servo3_raw SERVO_OUTPUT_RAW.servo4_raw +@alias add gservo6 g SERVO_OUTPUT_RAW.servo1_raw SERVO_OUTPUT_RAW.servo2_raw SERVO_OUTPUT_RAW.servo3_raw SERVO_OUTPUT_RAW.servo4_raw SERVO_OUTPUT_RAW.servo5_raw SERVO_OUTPUT_RAW.servo6_raw +@alias add gservo6 g SERVO_OUTPUT_RAW.servo1_raw SERVO_OUTPUT_RAW.servo2_raw SERVO_OUTPUT_RAW.servo3_raw SERVO_OUTPUT_RAW.servo4_raw SERVO_OUTPUT_RAW.servo5_raw SERVO_OUTPUT_RAW.servo6_raw SERVO_OUTPUT_RAW.servo7_raw SERVO_OUTPUT_RAW.servo8_raw +@alias add gservo12 g SERVO_OUTPUT_RAW.servo1_raw SERVO_OUTPUT_RAW.servo2_raw +@alias add gthr g VFR_HUD.throttle +@alias add ggs g VFR_HUD.groundspeed +@alias add grc g RC_CHANNELS.chan1_raw RC_CHANNELS.chan2_raw RC_CHANNELS.chan3_raw RC_CHANNELS.chan4_raw RC_CHANNELS.chan5_raw RC_CHANNELS.chan6_raw RC_CHANNELS.chan7_raw RC_CHANNELS.chan8_raw +@alias add grc4 g RC_CHANNELS.chan1_raw RC_CHANNELS.chan2_raw RC_CHANNELS.chan3_raw RC_CHANNELS.chan4_raw +@alias add grc12 g RC_CHANNELS.chan1_raw RC_CHANNELS.chan2_raw +@alias add galt g GLOBAL_POSITION_INT.relative_alt*0.001 altitude(SCALED_PRESSURE) +@alias add gpress g SCALED_PRESSURE.press_abs +@alias add gclimb g lowpass(delta(altitude(SCALED_PRESSURE),"a"),"a2",0.9) VFR_HUD.climb GLOBAL_POSITION_INT.vz*0.01 +@alias add gvz g GLOBAL_POSITION_INT.vz*0.01 +@alias add ghead g VFR_HUD.heading mag_heading(RAW_IMU,ATTITUDE) +@alias add gnavrp g NAV_CONTROLLER_OUTPUT.nav_roll NAV_CONTROLLER_OUTPUT.nav_pitch degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) +@alias add gspeed g VFR_HUD.groundspeed +@alias add gthr g VFR_HUD.throttle +@alias add galterr g NAV_CONTROLLER_OUTPUT.alt_error +@alias add gtargetalt g GLOBAL_POSITION_INT.relative_alt*0.001+NAV_CONTROLLER_OUTPUT.alt_error +@alias add gthrpitch g VFR_HUD.throttle NAV_CONTROLLER_OUTPUT.nav_pitch +@alias add gsteer g NAV_CONTROLLER_OUTPUT.nav_roll NAV_CONTROLLER_OUTPUT.nav_pitch +@alias add gspeed g VFR_HUD.airspeed VFR_HUD.groundspeed +@alias add ggpst g min(abs(diff(GPS_RAW_INT.time_usec*1.0e-6,"d")),3) +@alias add gload g SYS_STATUS.load +@alias add grate g 1000.0/diff(ATTITUDE.time_boot_ms,"a") +@alias add ggpsrate g 1.0e6/diff(GPS_RAW_INT.time_usec,"g") +@alias add grange g rangefinder_roll(RANGEFINDER,ATTITUDE,maxdist=39.5) GLOBAL_POSITION_INT.relative_alt*0.001 +@alias add grangealt g RANGEFINDER.distance GLOBAL_POSITION_INT.relative_alt*0.001 +@alias add grangev g RANGEFINDER.voltage +@alias add gahrserr g AHRS.error_rp AHRS.error_yaw +@alias add gage g GPS2_RAW.dgps_age +@alias add gomega g degrees(AHRS.omegaIx) degrees(AHRS.omegaIy) degrees(AHRS.omegaIz) +# jonos farm +# +#[9:38 PM] (Channel) Jono: These are very rough estimates, I'm not entirely sure how far north the boundry extends, but the south side is relatively true +#SE -34.671287° 150.599052° +#SW -34.669365° 150.590907° +# +#[9:38 PM] (Channel) Jono: aaand north +#[9:39 PM] (Channel) Jono: NW -34.666365° 150.594070° +#NE -34.667936° 150.602835° +# +#map icon -34.668400 150.597192 + +# Geoff Kemp farm +#map icon -34.946217 149.201569 + +# ANU Spring Farm Valley +# map icon -35.2869,149.0097 + +@alias add uwa map icon -31.979968 115.817737 +@alias add hil10 map icon -31.82552913 115.73857757 + +@alias add d1 wp show /home/tridge/project/UAV/WP/UWA-test2.txt +@alias add d2 map icon -31.979968 115.817737 +@alias add d3 map icon -31.82552913 115.73857757 + +# joe pos at CMAC +@alias add joe1 map icon -35.362779 149.164248 barrell +@alias add joe2 map icon -35.363131 149.164166 barrell +@alias add gtakeoff graph VFR_HUD.airspeed NAV_CONTROLLER_OUTPUT.nav_pitch NAV_CONTROLLER_OUTPUT.alt_error NAV_CONTROLLER_OUTPUT.aspd_error*0.01 + +@alias add c1 map icon -35.362502 149.162008 barrell +@alias add c2 map icon -35.363762 149.161739 barrell +@alias add c3 map icon -35.363772 149.161809 barrell +@alias add c4 map icon -35.365500 149.162207 barrell +@alias add c5 map icon -35.364812 149.164150 barrell +@alias add c6 map icon -35.365643 149.164326 barrell +@alias add ggimbal g degrees(GIMBAL_REPORT.joint_yaw) degrees(GIMBAL_REPORT.joint_roll) degrees(GIMBAL_REPORT.joint_pitch) +@alias add grpy312 g degrees(euler312(ATTITUDE).x) degrees(euler312(ATTITUDE).y) degrees(euler312(ATTITUDE).z) +@alias add gimutime g RAW_IMU.time_usec*1.0e-6 +@alias add gekf g EKF_STATUS_REPORT.velocity_variance EKF_STATUS_REPORT.pos_horiz_variance EKF_STATUS_REPORT.pos_vert_variance EKF_STATUS_REPORT.compass_variance +@alias add gsimgyro g degrees(SIMSTATE.xgyro) degrees(SIMSTATE.ygyro) degrees(SIMSTATE.zgyro) degrees(RAW_IMU.xgyro*0.001) degrees(RAW_IMU.ygyro*0.001) degrees(RAW_IMU.zgyro*0.001) +@alias add gsimaccel g SIMSTATE.xacc SIMSTATE.yacc SIMSTATE.zacc RAW_IMU.xacc*9.81*0.001 RAW_IMU.yacc*9.81*0.001 RAW_IMU.zacc*9.81*0.001 +@alias add gspeedup g lowpass(delta(RAW_IMU.time_usec*1.0e-6,"i"),"l",0.9) +@alias add gysim g degrees(SIMSTATE.yaw) degrees(ATTITUDE.yaw) + +@alias add wp-cmac wp load ../Tools/autotest/CMAC-circuit.txt + + +#graph SERVO_OUTPUT_RAW.servo8_raw + +# module load mavgraph + +#@alias add x mavgraph ds add /home/pbarker/196.BIN +#@alias add y mavgraph graph ATT.Roll +#@alias add z mavgraph graph ATT.Pitch + +# set state_basedir /home/pbarker/rc/flight-data + +set moddebug 3 + +#module load dataflash_logger +#dataflash_logger set verbose true + +#module load logger +#logger set verbose true +#logger set target_component 155 + +#module load map +#module load console +#module load speech + +#module load avoidance + +#module load cesium + +# repeat add 1 status ADSB_VEHICLE + +#module load loganalyzer + +#module load example +module load msg + +alias add fence-dalby fence load /home/pbarker/rc/ardupilot/Tools/autotest/ArduPlane-Missions/Dalby-OBC2016-fence.txt +# alias add wp-dalby wp load /home/pbarker/rc/ardupilot/Tools/autotest/ArduPlane-Missions/Dalby-OBC2016.txt +alias add wp-dalby wp load /home/pbarker/rc/cuav/script/OBC2016/mission-plane.txt + +alias add wp-dalby-heli wp load /home/pbarker/rc/cuav/script/OBC2016/mission-heli.txt + +#wpedit + +#module load esp + + + +alias add grcall graph RC_CHANNELS.chan1_raw RC_CHANNELS.chan2_raw RC_CHANNELS.chan3_raw RC_CHANNELS.chan4_raw RC_CHANNELS.chan5_raw RC_CHANNELS.chan6_raw RC_CHANNELS.chan7_raw RC_CHANNELS.chan8_raw RC_CHANNELS.chan9_raw RC_CHANNELS.chan10_raw RC_CHANNELS.chan11_raw RC_CHANNELS.chan12_raw + +alias add grchigh graph SERVO_OUTPUT_RAW.servo7_raw SERVO_OUTPUT_RAW.servo8_raw SERVO_OUTPUT_RAW.servo9_raw SERVO_OUTPUT_RAW.servo10_raw SERVO_OUTPUT_RAW.servo11_raw SERVO_OUTPUT_RAW.servo12_raw + +#graph degrees(ATTITUDE.yaw) wrap_180(NAV_CONTROLLER_OUTPUT.target_bearing) + +#module load nsh + +#gmag + +#module load joystick +#module load mmap + +#graph degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) + +#module load videoscript +#avs set trigger_channel 7 + +module load devop +alias add old devop read i2c bob 0 0x52 0xc0 1 + +alias add newx devop i2c read 0 0x55 0 16 +alias add new devop i2c read 1 0x1e 0x00 1 + +alias add i2cscan devop i2c scan 1 +alias add spiread devop spi read mpu6000 0xf5 1 + +# DEVOP: 0x1e: 0 + +# module load ublox +#module load console + +#module load video + +#alias add o long DO_SEND_BANNER + +#module load message + +# set speech en+us-f3 + +alias add bob long set_message_interval +# graph diff(ATTITUDE.time_boot_ms,0) +# long SET_MESSAGE_INTERVAL 30 100000 + + +