forked from Archive/PX4-Autopilot
fix sitl_multiple_run.sh: adapt to path updates
This commit is contained in:
Beat Küng
Julian Oes
parent
763d2d0447
commit
35e93c24e8
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@ -1,4 +1,6 @@
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#!/bin/bash
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# run multiple instances of the 'px4' binary, but w/o starting the simulator.
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# It assumes px4 is already built, with 'make posix_sitl_default'
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sitl_num=2
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@ -11,42 +13,42 @@ mav_oport2=15016
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port_step=10
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src_path=`pwd`
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SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
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src_path="$SCRIPT_DIR/.."
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rc_script="posix-configs/SITL/init/rcS_multiple"
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rc_script="posix-configs/SITL/init/ekf2/multiple_iris"
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build_path=${src_path}/build_posix_sitl_default
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echo "killing running instances"
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pkill px4
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sleep 2
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sleep 1
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cd $build_path/src/firmware/posix
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cd $build_path
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user=`whoami`
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n=1
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while [ $n -le $sitl_num ]; do
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if [ ! -d $n ]; then
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mkdir -p $n
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cd $n
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working_dir="instance_$n"
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if [ ! -d $working_dir ]; then
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mkdir -p "$working_dir"
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pushd "$working_dir" &>/dev/null
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mkdir -p rootfs/fs/microsd
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mkdir -p rootfs/eeprom
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touch rootfs/eeprom/parameters
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# replace template config with configured ports of current instance
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cat ${src_path}/${rc_script} | sed s/_SIMPORT_/${sim_port}/ | \
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sed s/_MAVPORT_/${mav_port}/g | sed s/_MAVOPORT_/${mav_oport}/ | \
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sed s/_MAVPORT2_/${mav_port2}/ | sed s/_MAVOPORT2_/${mav_oport2}/ > rcS
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popd &>/dev/null
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fi
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cp ${src_path}/ROMFS/px4fmu_common/mixers/quad_w.main.mix ./
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cat ${src_path}/${rc_script}_gazebo_iris | sed s/_SIMPORT_/${sim_port}/ | sed s/_MAVPORT_/${mav_port}/g | sed s/_MAVOPORT_/${mav_oport}/ | sed s/_MAVPORT2_/${mav_port2}/ | sed s/_MAVOPORT2_/${mav_oport2}/ > rcS
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cd ../
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fi
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pushd "$working_dir" &>/dev/null
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echo "starting instance $n in $(pwd)"
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sudo -b -u $user ../src/firmware/posix/px4 -d "$src_path" rcS >out.log 2>err.log
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popd &>/dev/null
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cd $n
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sudo -b -u $user ../px4 -d rcS >out.log 2>err.log
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cd ../
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n=$(($n + 1))
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sim_port=$(($sim_port + $port_step))
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mav_port=$(($mav_port + $port_step))
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mav_port2=$(($mav_port2 + $port_step))
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mav_oport=$(($mav_oport + $port_step))
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mav_oport2=$(($mav_oport2 + $port_step))
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n=$(($n + 1))
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sim_port=$(($sim_port + $port_step))
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mav_port=$(($mav_port + $port_step))
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mav_port2=$(($mav_port2 + $port_step))
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mav_oport=$(($mav_oport + $port_step))
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mav_oport2=$(($mav_oport2 + $port_step))
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done
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@ -1,5 +1,4 @@
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uorb start
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simulator start -s -u _SIMPORT_
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param load
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param set MAV_TYPE 2
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param set SYS_AUTOSTART 4010
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@ -19,23 +18,32 @@ param set CAL_ACC0_YSCALE 1.01
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param set CAL_ACC0_ZSCALE 1.01
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param set CAL_ACC1_XOFF 0.01
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param set CAL_MAG0_XOFF 0.01
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param set SENS_BOARD_ROT 0
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param set SENS_BOARD_X_OFF 0.000001
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param set COM_RC_IN_MODE 1
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param set NAV_DLL_ACT 2
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param set COM_DISARM_LAND 3
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param set NAV_ACC_RAD 2.0
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param set COM_OF_LOSS_T 5
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param set COM_OBL_ACT 2
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param set COM_OBL_RC_ACT 0
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param set RTL_RETURN_ALT 30.0
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param set RTL_DESCEND_ALT 5.0
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param set RTL_LAND_DELAY 5
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param set MIS_TAKEOFF_ALT 2.5
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param set MC_ROLLRATE_P 0.2
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param set MC_PITCHRATE_P 0.2
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param set MC_PITCH_P 6
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param set MC_ROLL_P 6
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param set MPC_XY_P 0.15
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param set MPC_XY_VEL_P 0.05
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param set MPC_XY_VEL_D 0.005
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param set MPC_XY_FF 0.1
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param set SENS_BOARD_ROT 0
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param set COM_RC_IN_MODE 1
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param set NAV_ACC_RAD 2.0
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param set RTL_RETURN_ALT 30.0
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param set RTL_DESCEND_ALT 10.0
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param set MPC_HOLD_MAX_Z 2.0
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param set MPC_HOLD_XY_DZ 0.1
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param set MPC_Z_VEL_P 0.6
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param set MPC_Z_VEL_I 0.15
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param set EKF2_GBIAS_INIT 0.01
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param set EKF2_ANGERR_INIT 0.01
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param set EKF2_MAG_TYPE 1
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replay tryapplyparams
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simulator start -s -u _SIMPORT_
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rgbledsim start
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tone_alarm start
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gyrosim start
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@ -52,14 +60,15 @@ navigator start
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ekf2 start
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mc_pos_control start
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mc_att_control start
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mixer load /dev/pwm_output0 quad_w.main.mix
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mavlink start -u _MAVPORT_ -r 2000000 -o _MAVOPORT_
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mavlink start -u _MAVPORT2_ -r 2000000 -m onboard -o _MAVOPORT2_
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mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u _MAVPORT_
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mavlink stream -r 80 -s LOCAL_POSITION_NED -u _MAVPORT_
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mavlink stream -r 80 -s GLOBAL_POSITION_INT -u _MAVPORT_
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mavlink stream -r 80 -s ATTITUDE -u _MAVPORT_
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mavlink stream -r 80 -s ATTITUDE_TARGET -u _MAVPORT_
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mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
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mavlink start -u _MAVPORT_ -r 4000000 -o _MAVOPORT_
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mavlink start -u _MAVPORT2_ -r 4000000 -m onboard -o _MAVOPORT2_
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mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u _MAVPORT_
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mavlink stream -r 50 -s LOCAL_POSITION_NED -u _MAVPORT_
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mavlink stream -r 50 -s GLOBAL_POSITION_INT -u _MAVPORT_
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mavlink stream -r 50 -s ATTITUDE -u _MAVPORT_
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mavlink stream -r 50 -s ATTITUDE_QUATERNION -u _MAVPORT_
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mavlink stream -r 50 -s ATTITUDE_TARGET -u _MAVPORT_
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mavlink stream -r 20 -s RC_CHANNELS -u _MAVPORT_
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mavlink stream -r 250 -s HIGHRES_IMU -u _MAVPORT_
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mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u _MAVPORT_
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