forked from Archive/PX4-Autopilot
54 lines
774 B
Plaintext
54 lines
774 B
Plaintext
|
#!nsh
|
||
|
|
#
|
||
|
|
# @name Crazyflie config
|
||
|
|
#
|
||
|
|
# @type Quadrotor x
|
||
|
|
#
|
||
|
|
# @maintainer Tim Dyer <dyer.ti@gmail.com>
|
||
|
|
#
|
||
|
|
|
||
|
|
# uorb start
|
||
|
|
|
||
|
|
# Params
|
||
|
|
|
||
|
|
# System status LEDs
|
||
|
|
|
||
|
|
# waypoint storage
|
||
|
|
|
||
|
|
# Sensors
|
||
|
|
mpu9250 -R 12 start
|
||
|
|
ak8963 start
|
||
|
|
lps25h start
|
||
|
|
sensors start
|
||
|
|
|
||
|
|
commander start
|
||
|
|
|
||
|
|
# Output mode
|
||
|
|
crazyflie start
|
||
|
|
|
||
|
|
# MAVLINK
|
||
|
|
# mavlink start -r 1200 -d /dev/ttyS***
|
||
|
|
|
||
|
|
# MAVTYPE
|
||
|
|
param set MAV_TYPE 2
|
||
|
|
|
||
|
|
exit 1
|
||
|
|
|
||
|
|
set OUTPUT_DEV /dev/pwm_output0
|
||
|
|
set MIXER_FILE /etc/mixers/quad_x.main.mix
|
||
|
|
if mixer load $OUTPUT_DEV $MIXER_FILE
|
||
|
|
then
|
||
|
|
echo "[i] Mixer: $MIXER_FILE on $OUTPUT_DEV"
|
||
|
|
else
|
||
|
|
echo "[i] Error loading mixer: $MIXER_FILE"
|
||
|
|
echo "ERROR: Could not load mixer: $MIXER_FILE" >> $LOG_FILE
|
||
|
|
tone_alarm $TUNE_ERR
|
||
|
|
fi
|
||
|
|
|
||
|
|
sh /etc/init.d/rc.mc_apps
|
||
|
|
|
||
|
|
# Navigator
|
||
|
|
navigator start
|
||
|
|
|
||
|
|
# Boot complete
|
||
|
|
mavlink boot_complete
|