px4-firmware/posix-configs/bbblue/px4.config

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#!/bin/sh
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
. px4-alias.sh
# config for a quad
# modified from ../rpi/px4.config
param select parameters.bson
param import
param set CBRK_SUPPLY_CHK 894281
# Auto-start script index. Defines the auto-start script used to bootstrap the system.
# It seems that SYS_AUTOSTART does not work as intended on posix platform.
# For now, find the corresponding settings, and manually set them in ground control.
#
# 4001: Generic Quadrotor X; 4011: DJI Flame Wheel F450
param set SYS_AUTOSTART 4011
# Broadcast heartbeats on local network. This allows a ground control station
# to automatically find the drone on the local network.
# MAV_TYPE: 1 Fixed wing aircraft, 2 Quadrotor
param set MAV_TYPE 2
# Three possible main power battery sources for BBBlue:
# 1. onboard 2S LiPo battery connector, which is connect to ADC channel 6
# 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).
# Scale the voltage to below 1.8V and connect it to ADC channel # 0, 1, 2 or 3.
param set BAT1_V_CHANNEL 5
# Battery voltage scale factor, from BBBlue schematics: (4.7K + 47K) / 4.7K = 11
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param set BAT1_V_DIV 11.0
dataman start
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load_mon start
bmp280 -I start
mpu9250_i2c -I start
# options: -R rotation
gps start -d /dev/ttyS2 -s -p ubx
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#rgbled start -I -b 1
board_adc start
battery_status start
rc_update start
sensors start
commander start
navigator start
ekf2 start
land_detector start multicopter
mc_hover_thrust_estimator start
flight_mode_manager start
mc_pos_control start
mc_att_control start
mc_rate_control start
mavlink start -n SoftAp -x -u 14556 -r 1000000 -p
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# -n name of wifi interface: SoftAp, wlan or your custom interface,
# e.g., -n SoftAp . The default is wlan
sleep 1
# RC port is mapped to /dev/ttyS4 (auto-detected)
#rc_input start -d /dev/ttyS4
control_allocator start
linux_pwm_out start
logger start -t -b 200
mavlink boot_complete