2018-08-06 09:24:15 -03:00
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#!/usr/bin/bash
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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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source px4-alias.sh
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2018-07-24 01:04:47 -03:00
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# config for a quad
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# modified from ../rpi/px4.config
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uorb start
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param load
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# Auto-start script index. Defines the auto-start script used to bootstrap the system.
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# It seems that SYS_AUTOSTART does not work as intended on posix platform.
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# For now, find the corresponding settings, and manually set them in ground control.
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#
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# 4001: Generic Quadrotor X; 4011: DJI Flame Wheel F450
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param set SYS_AUTOSTART 4011
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# DJI ESCs do not support calibration and need higher PWM_MIN
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# http://www.dji.com/e2000/info indicates E2000 Operating Pulse Width: 1120 to 1920 μs
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# It seems that all latest DJI ESC have the same range.
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# Note that the setting here applies to all PWM channels.
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# param set PWM_MIN 1120
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# param set PWM_MAX 1920
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# Not using DJI 430 LITE ESC anymore due to its hiccups:
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# each random motor stop would cause a scary flip in the fly
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# Replacing with 4 BLHeli32 (Wraith32 V2) ESCs solved the main problem in BBBlue porting
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# Broadcast heartbeats on local network. This allows a ground control station
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# to automatically find the drone on the local network.
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param set MAV_BROADCAST 1
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# MAV_TYPE: 1 Fixed wing aircraft, 2 Quadrotor
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param set MAV_TYPE 2
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# Set multicopter estimator group, 1 local_position_estimator, attitude_estimator_q, 2 ekf2
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param set SYS_MC_EST_GROUP 2
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# Three possible main power battery sources for BBBlue:
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# 1. onboard 2S LiPo battery connector, which is connect to ADC channel 6
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# 2. onboard 9-18V DC Jack, which is connect to ADC channel 5. This is the board default.
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# 3. other power source (e.g., LiPo battery more than 4S/18V).
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# Scale the voltage to below 1.8V and connect it to ADC channel # 0, 1, 2 or 3.
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param set BAT_ADC_CHANNEL 5
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# 12-bit 1.8V ADC, 1.8V / 2^12 = 0.000439453125 V/CNT
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param set BAT_CNT_V_VOLT 0.0004394531
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# Battery voltage scale factor, from BBBlue schematics: (4.7K + 47K) / 4.7K = 11
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param set BAT_V_DIV 11.0
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#param set BAT_CNT_V_CURR 0.001
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#param set BAT_A_PER_V 15.391030303
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dataman start
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df_bmp280_wrapper start -D /dev/i2c-2
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df_mpu9250_wrapper start
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# options: -R rotation
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gps start -d /dev/ttyS2 -s -p ubx
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#rgbled start -b 1
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bbblue_adc start
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bbblue_adc test
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sensors start
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commander start
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navigator start
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ekf2 start
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2018-07-31 02:06:58 -03:00
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land_detector start multicopter
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2018-07-24 01:04:47 -03:00
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mc_pos_control start
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mc_att_control start
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#fw_att_control start
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#fw_pos_control_l1 start
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2018-07-28 22:55:08 -03:00
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mavlink start -n SoftAp -x -u 14556 -r 1000000
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2018-07-24 01:04:47 -03:00
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# -n name of wifi interface: SoftAp, wlan or your custom interface,
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2018-07-28 22:55:08 -03:00
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# e.g., -n SoftAp . The default is wlan
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2018-07-24 01:04:47 -03:00
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sleep 1
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mavlink stream -u 14556 -s HIGHRES_IMU -r 20
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mavlink stream -u 14556 -s ATTITUDE -r 20
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mavlink stream -u 14556 -s MANUAL_CONTROL -r 10
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linux_sbus start -d /dev/ttyS4 -c 16
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# DSM2 port is mapped to /dev/ttyS4 (default for linux_sbus)
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# default: ROMFS/px4fmu_common/mixers/quad_x.main.mix, 8 output channels
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linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/quad_x.main.mix
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#linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/AETRFG.main.mix
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logger start -t -b 200
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mavlink boot_complete
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