px4-firmware/posix-configs/rpi/px4_hil.config

#!/bin/sh
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
. px4-alias.sh

# HITL configuration
# connect to it with jMAVSim:
# ./Tools/jmavsim_run.sh -q -i <IP> -p 14577 -r 250

if [ -f eeprom/parameters ]
then
	param load
fi
param set CBRK_SUPPLY_CHK 894281
param set SYS_AUTOSTART 1001
param set MAV_BROADCAST 1
param set MAV_TYPE 2

# Multi-EKF
param set EKF2_MULTI_IMU 2
param set SENS_IMU_MODE 0
param set EKF2_MULTI_MAG 3
param set SENS_MAG_MODE 0

dataman start

load_mon start

rc_update start
sensors start -hil
commander start -hil
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 -x -u 14577 -r 1000000
navio_sysfs_rc_in start
pwm_out_sim start
mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix

logger start -t -b 200

mavlink boot_complete
posix-configs shell scripts use /bin/sh to maximize compatibility (#10292) - fix ocpoc line endings 2018-08-25 12:02:37 -03:00			`#!/bin/sh`
posix shell: required updates for RPi, bepob, ocpoc, eagle & exxcelsior - RPi works - the rest is not tested, and requires a bit more (such as uploading the bin/ directory) 2018-08-04 12:26:05 -03:00			`# PX4 commands need the 'px4-' prefix in bash.`
			`# (px4-alias.sh is expected to be in the PATH)`
posix-configs: use '.' instead of 'source' 'source' is not POSIX 2018-09-27 14:54:09 -03:00			`. px4-alias.sh`
posix shell: required updates for RPi, bepob, ocpoc, eagle & exxcelsior - RPi works - the rest is not tested, and requires a bit more (such as uploading the bin/ directory) 2018-08-04 12:26:05 -03:00
rpi: add HIL config 2017-03-09 06:20:52 -04:00			`# HITL configuration`
			`# connect to it with jMAVSim:`
			`# ./Tools/jmavsim_run.sh -q -i <IP> -p 14577 -r 250`

linux boards (ocpoc, bbblue, navio2) replace custom adc drivers with simple px4_arch implementation 2020-01-07 12:08:37 -04:00			`if [ -f eeprom/parameters ]`
			`then`
			`param load`
			`fi`
commander: changes when USB connected - skip avionics rail voltage check when USB connected - skip forced reboot on USB disconnect if circuit breaker set - avionics voltage preflight check don't silently fail if system_power unavailble - explicitly set supply check circuit breaker (CBRK_SUPPLY_CHK) 2020-05-04 14:07:58 -03:00			`param set CBRK_SUPPLY_CHK 894281`
rpi: add HIL config 2017-03-09 06:20:52 -04:00			`param set SYS_AUTOSTART 1001`
			`param set MAV_BROADCAST 1`
			`param set MAV_TYPE 2`
linux boards (ocpoc, bbblue, navio2) replace custom adc drivers with simple px4_arch implementation 2020-01-07 12:08:37 -04:00
boards: start enabling multi-EKF by default on F7/H7 2021-01-07 11:12:20 -04:00			`# Multi-EKF`
			`param set EKF2_MULTI_IMU 2`
			`param set SENS_IMU_MODE 0`
			`param set EKF2_MULTI_MAG 3`
			`param set SENS_MAG_MODE 0`

rpi startup scripts: start dataman so that missions can be flown 2017-03-09 09:29:17 -04:00			`dataman start`
linux boards (ocpoc, bbblue, navio2) replace custom adc drivers with simple px4_arch implementation 2020-01-07 12:08:37 -04:00
load_mon: add linux support 2020-08-11 19:33:44 -03:00			`load_mon start`

sensors split rc_update into new standalone module 2019-11-24 14:25:11 -04:00			`rc_update start`
rpi: add HIL config 2017-03-09 06:20:52 -04:00			`sensors start -hil`
			`commander start -hil`
			`navigator start`
			`ekf2 start`
			`land_detector start multicopter`
move hover_thrust_estimator to new module (mc_hover_thrust_estimator) * MC_HTE: unitialize with hover_thrust parameter * MC_HTE: constrain hover thrust setter between 0.1 and 0.9 * MC_HTE: integrate with land detector and velocity controller * MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value. * MC_HTE: use altitude agl threshold to start the estimator local_position.z is relative to the origin of the EKF while dist_bottom is above ground Co-authored-by: bresch <brescianimathieu@gmail.com> 2020-03-11 22:20:54 -03:00			`mc_hover_thrust_estimator start`
Add flight_mode_manager to all targets with mc_pos_control 2020-10-24 12:09:25 -03:00			`flight_mode_manager start`
rpi: add HIL config 2017-03-09 06:20:52 -04:00			`mc_pos_control start`
			`mc_att_control start`
create new multicopter rate controller module (mc_rate_control) split out of mc_att_control 2019-11-19 18:03:11 -04:00			`mc_rate_control start`
linux boards (ocpoc, bbblue, navio2) replace custom adc drivers with simple px4_arch implementation 2020-01-07 12:08:37 -04:00
posix-configs: enable ftp for all mavlink instances 2017-09-18 07:38:49 -03:00			`mavlink start -x -u 14577 -r 1000000`
rpi: add HIL config 2017-03-09 06:20:52 -04:00			`navio_sysfs_rc_in start`
pwm_out_sim cleanup - move to ModuleBase - strip down to PWM 8 and 16 modes only - remove all dead code - implement missing pwm ioctls (current value, rates, etc) - default rate 50Hz -> 400Hz 2018-03-04 12:00:40 -04:00			`pwm_out_sim start`
posix: enable ROMFSROOT This will copy the ROMFS into the build directory under etc/, and thus needs a change of the PX4 startup parameters and mixer paths. 2020-09-10 08:33:29 -03:00			`mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix`
linux boards (ocpoc, bbblue, navio2) replace custom adc drivers with simple px4_arch implementation 2020-01-07 12:08:37 -04:00
rpi startup configs: set logger buffer size to 200 Avoid dropouts, we have enough RAM there. 2017-04-24 04:12:10 -03:00			`logger start -t -b 200`
linux boards (ocpoc, bbblue, navio2) replace custom adc drivers with simple px4_arch implementation 2020-01-07 12:08:37 -04:00
rpi: add HIL config 2017-03-09 06:20:52 -04:00			`mavlink boot_complete`