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Partial fix for Snapdragon HITL mode

This commit is contained in:
jwilson 2016-05-05 19:51:13 -07:00 committed by Lorenz Meier
parent ea138cfd38
commit 64c3b330ee
3 changed files with 15 additions and 10 deletions
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1
Makefile
View File

@ -189,6 +189,7 @@ posix_eagle_default:
$(call cmake-build,$@)
eagle_default: posix_eagle_default qurt_eagle_default
eagle_legacy_default: posix_eagle_legacy_driver_default qurt_eagle_legacy_driver_default
qurt_eagle_legacy_driver_default:
$(call cmake-build,$@)

22
posix-configs/eagle/hil/px4.config
View File

@ -1,16 +1,12 @@
uorb start
qshell start
param set CAL_GYRO0_ID 2293760
param set CAL_ACC0_ID 1310720
param set CAL_ACC1_ID 1376256
param set CAL_MAG0_ID 196608
commander start -hil
sensors start
attitude_estimator_q start
position_estimator_inav start
mc_pos_control start
mc_att_control start
sleep 1
pwm_out_sim mode_pwm
param set SYS_AUTOSTART 4001
param set SYS_AUTOCONFIG 1
param set MAV_TYPE 2
param set RC1_MAX 2015
param set RC1_MIN 996
param set RC1_TRIM 1502
@ -42,7 +38,15 @@ param set ATT_W_ACC 0.0002
param set ATT_W_MAG 0.002
param set ATT_W_GYRO_BIAS 0.05
sleep 1
param set MAV_TYPE 2
commander start -hil
sensors start
attitude_estimator_q start
position_estimator_inav start
mc_pos_control start
mc_att_control start
land_detector start multicopter
sleep 1
pwm_out_sim mode_pwm
mixer load /dev/pwm_output0 /startup/quad_x.main.mix
list_devices
list_files

2
src/modules/commander/commander.cpp
View File

@ -1157,7 +1157,7 @@ int commander_thread_main(int argc, char *argv[])
#endif
if (argc > 2) {
if (!strcmp(argv[3],"-hil")) {
if (!strcmp(argv[2],"-hil")) {
startup_in_hil = true;
} else {
PX4_ERR("Argument %s not supported.", argv[3]);