forked from Archive/PX4-Autopilot
posix shell: lots of cleanup and fixes
- move posix-configs/SITL/init/{rcS,10016_iris,6011_typhoon_h480} to ROMFS/px4fmu_common/init.d-posix allows for easier unification, only one symlink is required. - rcS: add AUTOCNF support. Update scripts to match with behavior of PX4 master (parameter values, some sitl driver got removed) - add alias to allow 'set variable value' syntax in scripts to px4-alias.sh - use px4_getopt - use separate argument for the test_data directory - append PATH from within the px4 binary: this simplifies the usage w/o the sitl_run.sh script. - add 'source px4-alias.sh' to all existing sitl startup scripts - move sitl mixers to ROMFS/px4fmu_common/mixers-sitl makes it easier to use existing mixers and sitl-specific ones. - remove unused rcS_gazebo_delta_wing
This commit is contained in:
parent
413c09e20e
commit
7822e5b5c3
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@ -4,7 +4,7 @@
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#
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#
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# @type Quadrotor Wide
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# @type Quadrotor Wide
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#
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#
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# @maintainer Anton Babushkin <julian@oes.ch>
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# @maintainer Julian Oes <julian@oes.ch>
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#
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#
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pwm_out_sim mode_pwm
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pwm_out_sim mode_pwm
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@ -0,0 +1,32 @@
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#!nsh
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#
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# @name Typhoon H480 SITL
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#
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# @type Hexarotor x
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#
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if [ $AUTOCNF == yes ]
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then
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param set MAV_TYPE 13
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param set MC_PITCHRATE_P 0.1
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param set MC_ROLLRATE_P 0.05
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param set MPC_XY_VEL_I 0.2
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param set MPC_XY_VEL_P 0.15
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param set RTL_DESCEND_ALT 10.0
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param set RTL_LAND_DELAY 0
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param set TRIG_INTERFACE 3
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param set TRIG_MODE 4
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param set MNT_MODE_IN 0
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param set MAV_PROTO_VER 2
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fi
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mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
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pwm_out_sim mode_pwm16
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mixer load /dev/pwm_output0 etc/mixers/hexa_x.main.mix
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mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
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vmount start
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camera_trigger start
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@ -7,10 +7,35 @@ source px4-alias.sh
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# TODO: In the future we want to share rc.autostart with NuttX
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# TODO: In the future we want to share rc.autostart with NuttX
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#source rc.autostart
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#source rc.autostart
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# Use the variable set by sitl_run.sh to choose the model settings.
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if [ "$PX4_SIM_MODEL" == "iris" ]; then
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set REQUESTED_AUTOSTART 10016
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elif [ "$PX4_SIM_MODEL" == "typhoon_h480" ]; then
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set REQUESTED_AUTOSTART 6011
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else
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echo "Unknown model"
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exit -1
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fi
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uorb start
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uorb start
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if ! param load
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if [ -f eeprom/parameters ]
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then
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then
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# param load fails the first time, set defaults
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param load
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fi
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if param compare SYS_AUTOSTART $REQUESTED_AUTOSTART
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then
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set AUTOCNF no
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else
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set AUTOCNF yes
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fi
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if [ $AUTOCNF == yes ]
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then
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param set SYS_AUTOSTART $REQUESTED_AUTOSTART
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param set BAT_N_CELLS 3
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param set BAT_N_CELLS 3
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param set CAL_ACC0_ID 1376264
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param set CAL_ACC0_ID 1376264
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param set CAL_ACC0_XOFF 0.01
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param set CAL_ACC0_XOFF 0.01
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@ -54,6 +79,7 @@ then
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param set SYS_RESTART_TYPE 2
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param set SYS_RESTART_TYPE 2
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fi
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fi
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# Use environment variable PX4_ESTIMATOR to choose estimator.
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# Use environment variable PX4_ESTIMATOR to choose estimator.
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if [ "$PX4_ESTIMATOR" == "ekf2" ]; then
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if [ "$PX4_ESTIMATOR" == "ekf2" ]; then
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param set SYS_MC_EST_GROUP 2
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param set SYS_MC_EST_GROUP 2
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@ -61,17 +87,6 @@ elif [ "$PX4_ESTIMATOR" == "lpe" ]; then
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param set SYS_MC_EST_GROUP 1
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param set SYS_MC_EST_GROUP 1
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fi
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fi
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# Use the variable set by sitl_run.sh to choose the model settings.
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if [ "$PX4_SIM_MODEL" == "iris" ]; then
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param set SYS_AUTOSTART 10016
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elif [ "$PX4_SIM_MODEL" == "typhoon_h480" ]; then
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param set SYS_AUTOSTART 6011
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else
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echo "Unknown model"
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exit -1
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fi
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dataman start
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dataman start
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replay tryapplyparams
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replay tryapplyparams
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simulator start -s
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simulator start -s
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@ -104,11 +119,11 @@ mc_att_control start
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# infrastructure already available on NuttX.
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# infrastructure already available on NuttX.
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if param compare SYS_AUTOSTART 10016
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if param compare SYS_AUTOSTART 10016
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then
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then
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source etc/init/10016_iris
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source etc/init.d-posix/10016_iris
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elif param compare SYS_AUTOSTART 6011
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elif param compare SYS_AUTOSTART 6011
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then
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then
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source etc/init/6011_typhoon_h480
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source etc/init.d-posix/6011_typhoon_h480
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fi
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fi
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@ -125,6 +140,11 @@ mavlink stream -r 20 -s RC_CHANNELS -u 14556
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mavlink stream -r 250 -s HIGHRES_IMU -u 14556
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mavlink stream -r 250 -s HIGHRES_IMU -u 14556
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mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
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mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
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# Required for the typhoon
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mavlink stream -r 10 -s MOUNT_ORIENTATION -u 14556
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mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14557
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mavlink stream -r 10 -s MOUNT_ORIENTATION -u 14557
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logger start -e -t -b 1000
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logger start -e -t -b 1000
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mavlink boot_complete
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mavlink boot_complete
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@ -0,0 +1,24 @@
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M: 4
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O: 10000 10000 0 -10000 10000
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S: 0 0 -10000 -10000 0 -10000 10000
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S: 0 1 -10000 -10000 0 -10000 10000
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S: 0 2 +10000 +10000 0 -10000 10000
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S: 0 3 +10000 +10000 0 -10000 10000
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M: 4
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O: 10000 10000 0 -10000 10000
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S: 0 0 +10000 +10000 0 -10000 10000
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S: 0 1 -10000 -10000 0 -10000 10000
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S: 0 2 -10000 -10000 0 -10000 10000
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S: 0 3 +10000 +10000 0 -10000 10000
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M: 4
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O: 10000 10000 0 -10000 10000
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S: 0 0 -10000 -10000 0 -10000 10000
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S: 0 1 +10000 +10000 0 -10000 10000
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S: 0 2 -10000 -10000 0 -10000 10000
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S: 0 3 +10000 +10000 0 -10000 10000
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M: 4
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O: 10000 10000 0 -10000 10000
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S: 0 0 +10000 +10000 0 -10000 10000
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S: 0 1 +10000 +10000 0 -10000 10000
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S: 0 2 +10000 +10000 0 -10000 10000
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S: 0 3 +10000 +10000 0 -10000 10000
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@ -1,34 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2018 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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add_subdirectory(mixers)
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@ -2,15 +2,13 @@
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set -e
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set -e
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echo args: $@
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sitl_bin="$1"
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rcS_path="$2"
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sitl_bin=$1
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debugger="$3"
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rcS_path=$2
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program="$4"
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debugger=$3
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model="$5"
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program=$4
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src_path="$6"
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model=$5
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build_path="$7"
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src_path=$6
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build_path=$7
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echo SITL ARGS
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echo SITL ARGS
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@ -22,17 +20,8 @@ echo model: $model
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echo src_path: $src_path
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echo src_path: $src_path
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echo build_path: $build_path
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echo build_path: $build_path
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working_dir=`pwd`
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rootfs="$build_path/tmp/rootfs" # this is the working directory
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rootfs=$build_path/tmp/rootfs
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mkdir -p "$rootfs"
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if [ "$chroot" == "1" ]
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then
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chroot_enabled=-c
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sudo_enabled=sudo
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else
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chroot_enabled=""
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sudo_enabled=""
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fi
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# To disable user input
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# To disable user input
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if [[ -n "$NO_PXH" ]]; then
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if [[ -n "$NO_PXH" ]]; then
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|
@ -52,7 +41,6 @@ if [ "$replay_mode" == "ekf2" ]
|
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then
|
then
|
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model="iris_replay"
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model="iris_replay"
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# create the publisher rules
|
# create the publisher rules
|
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mkdir -p $rootfs
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publisher_rules_file="$rootfs/orb_publisher.rules"
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publisher_rules_file="$rootfs/orb_publisher.rules"
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cat <<EOF > "$publisher_rules_file"
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cat <<EOF > "$publisher_rules_file"
|
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restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected
|
restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected
|
||||||
|
@ -80,16 +68,16 @@ then
|
||||||
kill $jmavsim_pid
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kill $jmavsim_pid
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||||||
fi
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fi
|
||||||
|
|
||||||
cp $src_path/Tools/posix_lldbinit $working_dir/.lldbinit
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cp $src_path/Tools/posix_lldbinit $rootfs/.lldbinit
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cp $src_path/Tools/posix.gdbinit $working_dir/.gdbinit
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cp $src_path/Tools/posix.gdbinit $rootfs/.gdbinit
|
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|
|
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SIM_PID=0
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SIM_PID=0
|
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|
||||||
if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]
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if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]
|
||||||
then
|
then
|
||||||
|
# Start Java simulator
|
||||||
$src_path/Tools/jmavsim_run.sh -r 500 &
|
$src_path/Tools/jmavsim_run.sh -r 500 &
|
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SIM_PID=`echo $!`
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SIM_PID=`echo $!`
|
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cd ../..
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|
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elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]
|
elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]
|
||||||
then
|
then
|
||||||
if [ -x "$(command -v gazebo)" ]
|
if [ -x "$(command -v gazebo)" ]
|
||||||
|
@ -118,27 +106,29 @@ then
|
||||||
fi
|
fi
|
||||||
fi
|
fi
|
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|
|
||||||
cd $working_dir
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pushd "$rootfs" >/dev/null
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# Do not exit on failure now from here on because we want the complete cleanup
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# Do not exit on failure now from here on because we want the complete cleanup
|
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set +e
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set +e
|
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|
|
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sitl_command="$sitl_bin $no_pxh $rootfs $rootfs/${rcS_path}"
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# Use the new unified rcS for the supported models
|
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# (All models will be transitioned over)
|
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if [[ ($rcS_path == posix-configs/SITL/init/ekf2 || $rcS_path == posix-configs/SITL/init/lpe)
|
||||||
|
&& ($model == "iris" || $model == "typhoon_h480") ]]; then
|
||||||
|
echo "Using new unified rcS for $model"
|
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|
sitl_command="$sitl_bin $no_pxh $src_path/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t $src_path/test_data"
|
||||||
|
else
|
||||||
|
sitl_command="$sitl_bin $no_pxh $src_path/ROMFS/px4fmu_common -s ${src_path}/${rcS_path}/${model} -t $src_path/test_data"
|
||||||
|
fi
|
||||||
|
|
||||||
echo SITL COMMAND: $sitl_command
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echo SITL COMMAND: $sitl_command
|
||||||
|
|
||||||
# Prepend to path to prioritize PX4 commands over potentially already
|
|
||||||
# installed PX4 commands.
|
|
||||||
export PATH="$build_path/bin":$PATH
|
|
||||||
|
|
||||||
export PX4_SIM_MODEL=${model}
|
export PX4_SIM_MODEL=${model}
|
||||||
|
|
||||||
pushd $rootfs
|
|
||||||
|
|
||||||
if [[ -n "$DONT_RUN" ]]
|
if [[ -n "$DONT_RUN" ]]
|
||||||
then
|
then
|
||||||
echo "Not running simulation (\$DONT_RUN is set)."
|
echo "Not running simulation (\$DONT_RUN is set)."
|
||||||
# Start Java simulator
|
|
||||||
elif [ "$debugger" == "lldb" ]
|
elif [ "$debugger" == "lldb" ]
|
||||||
then
|
then
|
||||||
lldb -- $sitl_command
|
lldb -- $sitl_command
|
||||||
|
@ -167,7 +157,7 @@ else
|
||||||
eval $sitl_command
|
eval $sitl_command
|
||||||
fi
|
fi
|
||||||
|
|
||||||
popd
|
popd >/dev/null
|
||||||
|
|
||||||
if [[ -z "$DONT_RUN" ]]
|
if [[ -z "$DONT_RUN" ]]
|
||||||
then
|
then
|
||||||
|
|
|
@ -148,7 +148,7 @@ set(config_module_list
|
||||||
# Default config_sitl_rcS_dir (posix_sitl_default), this is overwritten later
|
# Default config_sitl_rcS_dir (posix_sitl_default), this is overwritten later
|
||||||
# for the config posix_sitl_efk2 and set again, explicitly, for posix_sitl_lpe,
|
# for the config posix_sitl_efk2 and set again, explicitly, for posix_sitl_lpe,
|
||||||
# which are based on posix_sitl_default.
|
# which are based on posix_sitl_default.
|
||||||
set(config_sitl_rcS_dir etc/init/rcS CACHE INTERNAL "init script dir for sitl")
|
set(config_sitl_rcS_dir posix-configs/SITL/init/ekf2 CACHE INTERNAL "init script dir for sitl")
|
||||||
|
|
||||||
set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
|
set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
|
||||||
set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")
|
set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")
|
||||||
|
|
|
@ -7,6 +7,14 @@ if [ ! -n "$ZSH_VERSION" ]; then
|
||||||
shopt -s expand_aliases
|
shopt -s expand_aliases
|
||||||
fi
|
fi
|
||||||
|
|
||||||
|
# Map the NuttX-style variable definition 'set <var> <value>' to something that
|
||||||
|
# bash and alternatives understand
|
||||||
|
set() {
|
||||||
|
eval $1=$2
|
||||||
|
}
|
||||||
|
# alternative method with an alias:
|
||||||
|
# alias set='f(){ set -- "$1=$2"; eval "$1"; unset -f f; }; eval f'
|
||||||
|
|
||||||
# Don't stop on errors.
|
# Don't stop on errors.
|
||||||
#set -e
|
#set -e
|
||||||
|
|
||||||
|
|
|
@ -207,27 +207,3 @@ px4_posix_generate_symlinks(
|
||||||
TARGET px4
|
TARGET px4
|
||||||
)
|
)
|
||||||
|
|
||||||
add_custom_command(TARGET px4
|
|
||||||
POST_BUILD
|
|
||||||
COMMAND mkdir -p ${CMAKE_BINARY_DIR}/rootfs/etc/
|
|
||||||
)
|
|
||||||
|
|
||||||
add_custom_command(TARGET px4
|
|
||||||
POST_BUILD
|
|
||||||
COMMAND mkdir -p ${CMAKE_BINARY_DIR}/rootfs/etc/
|
|
||||||
)
|
|
||||||
|
|
||||||
add_custom_command(TARGET px4
|
|
||||||
POST_BUILD
|
|
||||||
COMMAND cp -R ${PROJECT_SOURCE_DIR}/posix-configs/SITL/init ${CMAKE_BINARY_DIR}/rootfs/etc/
|
|
||||||
)
|
|
||||||
|
|
||||||
add_custom_command(TARGET px4
|
|
||||||
POST_BUILD
|
|
||||||
COMMAND cp -R ${PROJECT_SOURCE_DIR}/ROMFS/sitl/mixers ${CMAKE_BINARY_DIR}/rootfs/etc/
|
|
||||||
)
|
|
||||||
|
|
||||||
add_custom_command(TARGET px4
|
|
||||||
POST_BUILD
|
|
||||||
COMMAND cp -R ${PROJECT_SOURCE_DIR}/ROMFS/px4fmu_common/mixers ${CMAKE_BINARY_DIR}/rootfs/etc/
|
|
||||||
)
|
|
||||||
|
|
|
@ -3,7 +3,7 @@ file(MAKE_DIRECTORY ${SITL_WORKING_DIR})
|
||||||
|
|
||||||
# add a symlink to the logs dir to make it easier to find them
|
# add a symlink to the logs dir to make it easier to find them
|
||||||
add_custom_command(OUTPUT ${PX4_BINARY_DIR}/logs
|
add_custom_command(OUTPUT ${PX4_BINARY_DIR}/logs
|
||||||
COMMAND ${CMAKE_COMMAND} -E create_symlink ${SITL_WORKING_DIR}/rootfs/fs/microsd/log logs
|
COMMAND ${CMAKE_COMMAND} -E create_symlink ${SITL_WORKING_DIR}/rootfs/log logs
|
||||||
WORKING_DIRECTORY ${PX4_BINARY_DIR})
|
WORKING_DIRECTORY ${PX4_BINARY_DIR})
|
||||||
add_custom_target(logs_symlink DEPENDS ${PX4_BINARY_DIR}/logs)
|
add_custom_target(logs_symlink DEPENDS ${PX4_BINARY_DIR}/logs)
|
||||||
|
|
||||||
|
|
|
@ -52,14 +52,17 @@
|
||||||
*/
|
*/
|
||||||
|
|
||||||
#include <string>
|
#include <string>
|
||||||
|
#include <algorithm>
|
||||||
#include <fstream>
|
#include <fstream>
|
||||||
#include <signal.h>
|
#include <signal.h>
|
||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
#include <errno.h>
|
#include <errno.h>
|
||||||
#include <fcntl.h>
|
#include <fcntl.h>
|
||||||
#include <sys/stat.h>
|
#include <sys/stat.h>
|
||||||
|
#include <stdlib.h>
|
||||||
|
|
||||||
#include <px4_log.h>
|
#include <px4_log.h>
|
||||||
|
#include <px4_getopt.h>
|
||||||
#include <px4_tasks.h>
|
#include <px4_tasks.h>
|
||||||
#include <px4_posix.h>
|
#include <px4_posix.h>
|
||||||
#include <px4_log.h>
|
#include <px4_log.h>
|
||||||
|
@ -96,12 +99,14 @@ static void register_sig_handler();
|
||||||
static void set_cpu_scaling();
|
static void set_cpu_scaling();
|
||||||
static int create_symlinks_if_needed(std::string &data_path);
|
static int create_symlinks_if_needed(std::string &data_path);
|
||||||
static int create_dirs();
|
static int create_dirs();
|
||||||
static int run_startup_bash_script(const char *commands_file);
|
static int run_startup_bash_script(const std::string &commands_file, const std::string &absolute_binary_path);
|
||||||
|
static std::string get_absolute_binary_path(const std::string &argv0);
|
||||||
static void wait_to_exit();
|
static void wait_to_exit();
|
||||||
static bool is_already_running();
|
static bool is_already_running();
|
||||||
static void print_usage();
|
static void print_usage();
|
||||||
static bool dir_exists(const std::string &path);
|
static bool dir_exists(const std::string &path);
|
||||||
static bool file_exists(const std::string &name);
|
static bool file_exists(const std::string &name);
|
||||||
|
static std::string file_basename(std::string const &pathname);
|
||||||
static std::string pwd();
|
static std::string pwd();
|
||||||
|
|
||||||
|
|
||||||
|
@ -120,16 +125,20 @@ int main(int argc, char **argv)
|
||||||
const char prefix[] = PX4_BASH_PREFIX;
|
const char prefix[] = PX4_BASH_PREFIX;
|
||||||
int path_length = 0;
|
int path_length = 0;
|
||||||
|
|
||||||
|
std::string absolute_binary_path; // full path to the px4 binary being executed
|
||||||
|
|
||||||
if (argc > 0) {
|
if (argc > 0) {
|
||||||
/* The executed binary name could start with a path, so strip it away */
|
/* The executed binary name could start with a path, so strip it away */
|
||||||
const std::string full_binary_name = argv[0];
|
const std::string full_binary_name = argv[0];
|
||||||
const std::string binary_name = file_basename(full_binary_name);
|
const std::string binary_name = file_basename(full_binary_name);
|
||||||
|
|
||||||
if (binary_name.compare(0, strlen(prefix), prefix) == 0) {
|
if (binary_name.compare(0, strlen(prefix), prefix) == 0) {
|
||||||
is_client = true;
|
is_client = true;
|
||||||
}
|
}
|
||||||
|
|
||||||
path_length = full_binary_name.length() - binary_name.length();
|
path_length = full_binary_name.length() - binary_name.length();
|
||||||
|
|
||||||
|
absolute_binary_path = get_absolute_binary_path(full_binary_name);
|
||||||
}
|
}
|
||||||
|
|
||||||
if (is_client) {
|
if (is_client) {
|
||||||
|
@ -155,78 +164,68 @@ int main(int argc, char **argv)
|
||||||
|
|
||||||
/* Server/daemon apps need to parse the command line arguments. */
|
/* Server/daemon apps need to parse the command line arguments. */
|
||||||
|
|
||||||
int positional_arg_count = 0;
|
|
||||||
std::string data_path = "";
|
std::string data_path = "";
|
||||||
std::string commands_file = "";
|
std::string commands_file = "etc/init.d/rcS";
|
||||||
std::string node_name = "";
|
std::string test_data_path = "";
|
||||||
|
|
||||||
// parse arguments
|
int myoptind = 1;
|
||||||
for (int i = 1; i < argc; ++i) {
|
int ch;
|
||||||
if (argv[i][0] == '-') {
|
const char *myoptarg = nullptr;
|
||||||
|
|
||||||
if (strcmp(argv[i], "-h") == 0) {
|
while ((ch = px4_getopt(argc, argv, "hdt:s:", &myoptind, &myoptarg)) != EOF) {
|
||||||
print_usage();
|
switch (ch) {
|
||||||
return 0;
|
case 'h':
|
||||||
|
print_usage();
|
||||||
|
return 0;
|
||||||
|
|
||||||
} else if (strcmp(argv[i], "-d") == 0) {
|
case 'd':
|
||||||
pxh_off = true;
|
pxh_off = true;
|
||||||
|
break;
|
||||||
|
|
||||||
} else {
|
case 't':
|
||||||
printf("Unknown/unhandled parameter: %s\n", argv[i]);
|
test_data_path = myoptarg;
|
||||||
print_usage();
|
break;
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
|
|
||||||
} else if (!strncmp(argv[i], "__", 2)) {
|
case 's':
|
||||||
|
commands_file = myoptarg;
|
||||||
|
break;
|
||||||
|
|
||||||
// FIXME: what is this?
|
default:
|
||||||
// ros arguments
|
PX4_ERR("unrecognized flag");
|
||||||
if (!strncmp(argv[i], "__name:=", 8)) {
|
|
||||||
std::string name_arg = argv[i];
|
|
||||||
node_name = name_arg.substr(8);
|
|
||||||
PX4_INFO("node name: %s", node_name.c_str());
|
|
||||||
}
|
|
||||||
|
|
||||||
} else {
|
|
||||||
//printf("positional argument\n");
|
|
||||||
|
|
||||||
positional_arg_count += 1;
|
|
||||||
|
|
||||||
if (positional_arg_count == 1) {
|
|
||||||
commands_file = argv[i];
|
|
||||||
|
|
||||||
} else if (positional_arg_count == 2) {
|
|
||||||
data_path = commands_file;
|
|
||||||
commands_file = argv[i];
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
if (positional_arg_count != 2 && positional_arg_count != 1) {
|
|
||||||
PX4_ERR("Error expected 1 or 2 position arguments, got %d", positional_arg_count);
|
|
||||||
print_usage();
|
print_usage();
|
||||||
return -1;
|
return -1;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
if (myoptind < argc) {
|
||||||
|
data_path = argv[myoptind];
|
||||||
|
}
|
||||||
|
|
||||||
|
int ret = create_symlinks_if_needed(data_path);
|
||||||
|
|
||||||
|
if (ret != PX4_OK) {
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (test_data_path != "") {
|
||||||
|
const std::string required_test_data_path = "./test_data";
|
||||||
|
|
||||||
|
if (!dir_exists(required_test_data_path.c_str())) {
|
||||||
|
symlink(test_data_path.c_str(), required_test_data_path.c_str());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
if (!file_exists(commands_file)) {
|
if (!file_exists(commands_file)) {
|
||||||
PX4_ERR("Error opening startup file, does not exist: %s", commands_file.c_str());
|
PX4_ERR("Error opening startup file, does not exist: %s", commands_file.c_str());
|
||||||
return -1;
|
return -1;
|
||||||
}
|
}
|
||||||
|
|
||||||
PX4_INFO("startup file: %s", commands_file.c_str());
|
|
||||||
|
|
||||||
register_sig_handler();
|
register_sig_handler();
|
||||||
set_cpu_scaling();
|
set_cpu_scaling();
|
||||||
|
|
||||||
px4_daemon::Server server;
|
px4_daemon::Server server;
|
||||||
server.start();
|
server.start();
|
||||||
|
|
||||||
int ret = create_symlinks_if_needed(data_path);
|
|
||||||
|
|
||||||
if (ret != PX4_OK) {
|
|
||||||
return ret;
|
|
||||||
}
|
|
||||||
|
|
||||||
ret = create_dirs();
|
ret = create_dirs();
|
||||||
|
|
||||||
if (ret != PX4_OK) {
|
if (ret != PX4_OK) {
|
||||||
|
@ -238,7 +237,7 @@ int main(int argc, char **argv)
|
||||||
px4::init_once();
|
px4::init_once();
|
||||||
px4::init(argc, argv, "px4");
|
px4::init(argc, argv, "px4");
|
||||||
|
|
||||||
ret = run_startup_bash_script(commands_file.c_str());
|
ret = run_startup_bash_script(commands_file, absolute_binary_path);
|
||||||
|
|
||||||
// We now block here until we need to exit.
|
// We now block here until we need to exit.
|
||||||
if (pxh_off) {
|
if (pxh_off) {
|
||||||
|
@ -283,33 +282,28 @@ int create_symlinks_if_needed(std::string &data_path)
|
||||||
return PX4_OK;
|
return PX4_OK;
|
||||||
}
|
}
|
||||||
|
|
||||||
std::vector<std::string> path_sym_links;
|
const std::string path_sym_link = "etc";
|
||||||
path_sym_links.push_back("etc");
|
|
||||||
path_sym_links.push_back("test_data");
|
|
||||||
|
|
||||||
for (const auto &it = path_sym_links.begin(); it != path_sym_links.end(); ++it) {
|
PX4_DEBUG("path sym link: %s", path_sym_link.c_str());
|
||||||
|
|
||||||
PX4_DEBUG("path sym link: %s", it->c_str());;
|
std::string src_path = data_path;
|
||||||
|
std::string dest_path = current_path + "/" + path_sym_link;
|
||||||
|
|
||||||
std::string src_path = data_path + "/" + *it;
|
if (dir_exists(dest_path.c_str())) {
|
||||||
std::string dest_path = current_path + "/" + *it;
|
return PX4_OK;
|
||||||
|
}
|
||||||
|
|
||||||
if (dir_exists(dest_path.c_str())) {
|
PX4_INFO("Creating symlink %s -> %s", src_path.c_str(), dest_path.c_str());
|
||||||
continue;
|
|
||||||
}
|
|
||||||
|
|
||||||
PX4_INFO("Creating symlink %s -> %s", src_path.c_str(), dest_path.c_str());
|
// create sym-link
|
||||||
|
int ret = symlink(src_path.c_str(), dest_path.c_str());
|
||||||
|
|
||||||
// create sym-links
|
if (ret != 0) {
|
||||||
int ret = symlink(src_path.c_str(), dest_path.c_str());
|
PX4_ERR("Error creating symlink %s -> %s", src_path.c_str(), dest_path.c_str());
|
||||||
|
return ret;
|
||||||
|
|
||||||
if (ret != 0) {
|
} else {
|
||||||
PX4_ERR("Error creating symlink %s -> %s", src_path.c_str(), dest_path.c_str());
|
PX4_DEBUG("Successfully created symlink %s -> %s", src_path.c_str(), dest_path.c_str());
|
||||||
return ret;
|
|
||||||
|
|
||||||
} else {
|
|
||||||
PX4_DEBUG("Successfully created symlink %s -> %s", src_path.c_str(), dest_path.c_str());
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|
||||||
return PX4_OK;
|
return PX4_OK;
|
||||||
|
@ -416,13 +410,71 @@ void set_cpu_scaling()
|
||||||
#endif
|
#endif
|
||||||
}
|
}
|
||||||
|
|
||||||
int run_startup_bash_script(const char *commands_file)
|
std::string get_absolute_binary_path(const std::string &argv0)
|
||||||
|
{
|
||||||
|
// On Linux we could also use readlink("/proc/self/exe", buf, bufsize) to get the absolute path
|
||||||
|
|
||||||
|
std::size_t last_slash = argv0.find_last_of("/");
|
||||||
|
|
||||||
|
if (last_slash == std::string::npos) {
|
||||||
|
// either relative path or in PATH (PATH is ignored here)
|
||||||
|
return pwd();
|
||||||
|
}
|
||||||
|
|
||||||
|
std::string base = argv0.substr(0, last_slash);
|
||||||
|
|
||||||
|
if (base.length() > 0 && base[0] == '/') {
|
||||||
|
// absolute path
|
||||||
|
return base;
|
||||||
|
}
|
||||||
|
|
||||||
|
// relative path
|
||||||
|
return pwd() + "/" + base;
|
||||||
|
}
|
||||||
|
|
||||||
|
int run_startup_bash_script(const std::string &commands_file, const std::string &absolute_binary_path)
|
||||||
{
|
{
|
||||||
std::string bash_command("bash ");
|
std::string bash_command("bash ");
|
||||||
|
|
||||||
bash_command += commands_file;
|
bash_command += commands_file;
|
||||||
|
|
||||||
PX4_INFO("Calling bash script: %s", bash_command.c_str());
|
// Update the PATH variable to include the absolute_binary_path
|
||||||
|
// (required for the px4-alias.sh script and px4-* commands).
|
||||||
|
// They must be within the same directory as the px4 binary
|
||||||
|
const char *path_variable = "PATH";
|
||||||
|
std::string updated_path = absolute_binary_path;
|
||||||
|
const char *path = getenv(path_variable);
|
||||||
|
|
||||||
|
if (path) {
|
||||||
|
std::string spath = path;
|
||||||
|
|
||||||
|
// Check if absolute_binary_path already in PATH
|
||||||
|
bool already_in_path = false;
|
||||||
|
std::size_t current, previous = 0;
|
||||||
|
current = spath.find(':');
|
||||||
|
|
||||||
|
while (current != std::string::npos) {
|
||||||
|
if (spath.substr(previous, current - previous) == absolute_binary_path) {
|
||||||
|
already_in_path = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
previous = current + 1;
|
||||||
|
current = spath.find(':', previous);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (spath.substr(previous, current - previous) == absolute_binary_path) {
|
||||||
|
already_in_path = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!already_in_path) {
|
||||||
|
// Prepend to path to prioritize PX4 commands over potentially already installed PX4 commands.
|
||||||
|
updated_path = updated_path + ":" + path;
|
||||||
|
setenv(path_variable, updated_path.c_str(), 1);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
PX4_INFO("Calling startup script: %s", bash_command.c_str());
|
||||||
|
|
||||||
int ret = 0;
|
int ret = 0;
|
||||||
|
|
||||||
|
@ -454,11 +506,11 @@ void print_usage()
|
||||||
{
|
{
|
||||||
printf("Usage for Server/daemon process: \n");
|
printf("Usage for Server/daemon process: \n");
|
||||||
printf("\n");
|
printf("\n");
|
||||||
printf(" px4 [-h|-d] [rootfs_directory] startup_file\n");
|
printf(" px4 [-h|-d] [-s <startup_file>] [-d <test_data_directory>] [<rootfs_directory>]\n");
|
||||||
printf("\n");
|
printf("\n");
|
||||||
|
printf(" <startup_file> bash start script to be used as startup (default=etc/init.d/rcS)\n");
|
||||||
printf(" <rootfs_directory> directory where startup files and mixers are located,\n");
|
printf(" <rootfs_directory> directory where startup files and mixers are located,\n");
|
||||||
printf(" (if not given, CWD is used)\n");
|
printf(" (if not given, CWD is used)\n");
|
||||||
printf(" <startup_file> bash start script to be used as startup\n");
|
|
||||||
printf(" -h help/usage information\n");
|
printf(" -h help/usage information\n");
|
||||||
printf(" -d daemon mode, don't start pxh shell\n");
|
printf(" -d daemon mode, don't start pxh shell\n");
|
||||||
printf("\n");
|
printf("\n");
|
||||||
|
@ -505,6 +557,18 @@ bool file_exists(const std::string &name)
|
||||||
return (stat(name.c_str(), &buffer) == 0);
|
return (stat(name.c_str(), &buffer) == 0);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
static std::string file_basename(std::string const &pathname)
|
||||||
|
{
|
||||||
|
struct MatchPathSeparator {
|
||||||
|
bool operator()(char ch) const
|
||||||
|
{
|
||||||
|
return ch == '/';
|
||||||
|
}
|
||||||
|
};
|
||||||
|
return std::string(std::find_if(pathname.rbegin(), pathname.rend(),
|
||||||
|
MatchPathSeparator()).base(), pathname.end());
|
||||||
|
}
|
||||||
|
|
||||||
bool dir_exists(const std::string &path)
|
bool dir_exists(const std::string &path)
|
||||||
{
|
{
|
||||||
struct stat info;
|
struct stat info;
|
||||||
|
|
|
@ -227,6 +227,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
|
||||||
pthread_mutex_lock(&task_mutex);
|
pthread_mutex_lock(&task_mutex);
|
||||||
|
|
||||||
px4_task_t taskid = 0;
|
px4_task_t taskid = 0;
|
||||||
|
|
||||||
for (i = 0; i < PX4_MAX_TASKS; ++i) {
|
for (i = 0; i < PX4_MAX_TASKS; ++i) {
|
||||||
if (!taskmap[i].isused) {
|
if (!taskmap[i].isused) {
|
||||||
taskmap[i].name = name;
|
taskmap[i].name = name;
|
||||||
|
|
|
@ -1,15 +0,0 @@
|
||||||
#!nsh
|
|
||||||
#
|
|
||||||
# @name Typhoon H480 SITL
|
|
||||||
#
|
|
||||||
# @type Hexarotor x
|
|
||||||
#
|
|
||||||
# @maintainer empty@empty.com
|
|
||||||
#
|
|
||||||
|
|
||||||
param set MAV_TYPE 13
|
|
||||||
|
|
||||||
pwm_out_sim mode_pwm16
|
|
||||||
mixer load /dev/pwm_output0 etc/mixers/hexa_x.main.mix
|
|
||||||
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
|
|
||||||
vmount start
|
|
|
@ -1,59 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (c) 2016 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
set(posix_init_file_names
|
|
||||||
rcS
|
|
||||||
rcS_tests
|
|
||||||
6011_typhoon_h480
|
|
||||||
10016_iris
|
|
||||||
)
|
|
||||||
|
|
||||||
# Get absolute paths
|
|
||||||
set(posix_init_files)
|
|
||||||
foreach(posix_file ${posix_init_file_names})
|
|
||||||
list(APPEND posix_init_files ${CMAKE_CURRENT_SOURCE_DIR}/${posix_file})
|
|
||||||
endforeach()
|
|
||||||
|
|
||||||
set(init_directory ${ROOTFS_DIRECTORY}/etc/init)
|
|
||||||
|
|
||||||
add_custom_target(posix_init_dir
|
|
||||||
COMMAND ${CMAKE_COMMAND} -E make_directory ${init_directory}
|
|
||||||
)
|
|
||||||
|
|
||||||
# cmake -E copy with version < 3.5 does not support copying multiple files yet, therefore use cp.
|
|
||||||
add_custom_target(posix_init
|
|
||||||
COMMAND cp ${posix_init_files} ${init_directory}
|
|
||||||
DEPENDS posix_init_dir
|
|
||||||
)
|
|
||||||
|
|
||||||
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
param set CAL_GYRO0_ID 2293768
|
param set CAL_GYRO0_ID 2293768
|
||||||
|
@ -14,7 +19,7 @@ dataman start
|
||||||
simulator start -s
|
simulator start -s
|
||||||
|
|
||||||
pwm_out_sim start
|
pwm_out_sim start
|
||||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_test/mixers/uuv_quad_x.mix
|
mixer load /dev/pwm_output0 etc/mixers/uuv_quad_x.mix
|
||||||
|
|
||||||
gyrosim start
|
gyrosim start
|
||||||
accelsim start
|
accelsim start
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
dataman start
|
dataman start
|
||||||
|
@ -60,7 +65,7 @@ navigator start
|
||||||
ekf2 start
|
ekf2 start
|
||||||
mc_pos_control start
|
mc_pos_control start
|
||||||
mc_att_control start
|
mc_att_control start
|
||||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
|
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
|
||||||
mavlink start -x -u 14556 -r 4000000
|
mavlink start -x -u 14556 -r 4000000
|
||||||
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
||||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
dataman start
|
dataman start
|
||||||
|
@ -62,7 +67,7 @@ navigator start
|
||||||
ekf2 start
|
ekf2 start
|
||||||
mc_pos_control start
|
mc_pos_control start
|
||||||
mc_att_control start
|
mc_att_control start
|
||||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
|
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
|
||||||
mavlink start -x -u 14556 -r 4000000
|
mavlink start -x -u 14556 -r 4000000
|
||||||
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
||||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
dataman start
|
dataman start
|
||||||
|
@ -62,7 +67,7 @@ navigator start
|
||||||
ekf2 start
|
ekf2 start
|
||||||
mc_pos_control start
|
mc_pos_control start
|
||||||
mc_att_control start
|
mc_att_control start
|
||||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
|
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
|
||||||
mavlink start -x -u 14558 -r 4000000
|
mavlink start -x -u 14558 -r 4000000
|
||||||
mavlink start -x -u 14559 -r 4000000 -m onboard -o 14541
|
mavlink start -x -u 14559 -r 4000000 -m onboard -o 14541
|
||||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14558
|
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14558
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
dataman start
|
dataman start
|
||||||
|
@ -62,7 +67,7 @@ ekf2 start
|
||||||
landing_target_estimator start
|
landing_target_estimator start
|
||||||
mc_pos_control start
|
mc_pos_control start
|
||||||
mc_att_control start
|
mc_att_control start
|
||||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
|
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
|
||||||
mavlink start -u 14556 -r 4000000
|
mavlink start -u 14556 -r 4000000
|
||||||
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
|
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
|
||||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
param set MAV_TYPE 2
|
param set MAV_TYPE 2
|
||||||
|
@ -64,7 +69,7 @@ navigator start
|
||||||
ekf2 start
|
ekf2 start
|
||||||
mc_pos_control start
|
mc_pos_control start
|
||||||
mc_att_control start
|
mc_att_control start
|
||||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
|
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
|
||||||
mavlink start -x -u 14556 -r 4000000
|
mavlink start -x -u 14556 -r 4000000
|
||||||
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
||||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param set SDLOG_DIRS_MAX 7
|
param set SDLOG_DIRS_MAX 7
|
||||||
|
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
dataman start
|
dataman start
|
||||||
|
@ -60,7 +65,7 @@ navigator start
|
||||||
ekf2 start
|
ekf2 start
|
||||||
mc_pos_control start
|
mc_pos_control start
|
||||||
mc_att_control start
|
mc_att_control start
|
||||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
|
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
|
||||||
mavlink start -x -u 14556 -r 4000000
|
mavlink start -x -u 14556 -r 4000000
|
||||||
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
||||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
param set MAV_TYPE 2
|
param set MAV_TYPE 2
|
||||||
|
@ -63,7 +68,7 @@ navigator start
|
||||||
ekf2 start
|
ekf2 start
|
||||||
mc_pos_control start
|
mc_pos_control start
|
||||||
mc_att_control start
|
mc_att_control start
|
||||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
|
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
|
||||||
mavlink start -x -u 14556 -r 4000000
|
mavlink start -x -u 14556 -r 4000000
|
||||||
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
||||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
dataman start
|
dataman start
|
||||||
|
@ -60,7 +65,7 @@ navigator start
|
||||||
ekf2 start
|
ekf2 start
|
||||||
mc_pos_control start
|
mc_pos_control start
|
||||||
mc_att_control start
|
mc_att_control start
|
||||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
|
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
|
||||||
mavlink start -x -u _MAVPORT_ -r 4000000 -o _MAVOPORT_
|
mavlink start -x -u _MAVPORT_ -r 4000000 -o _MAVOPORT_
|
||||||
mavlink start -x -u _MAVPORT2_ -r 4000000 -m onboard -o _MAVOPORT2_
|
mavlink start -x -u _MAVPORT2_ -r 4000000 -m onboard -o _MAVOPORT2_
|
||||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u _MAVPORT_
|
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u _MAVPORT_
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
dataman start
|
dataman start
|
||||||
|
@ -84,7 +89,7 @@ fw_pos_control_l1 start
|
||||||
fw_att_control start
|
fw_att_control start
|
||||||
land_detector start fixedwing
|
land_detector start fixedwing
|
||||||
wind_estimator start
|
wind_estimator start
|
||||||
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/plane_sitl.main.mix
|
mixer load /dev/pwm_output0 etc/mixers-sitl/plane_sitl.main.mix
|
||||||
mavlink start -x -u 14556 -r 2000000
|
mavlink start -x -u 14556 -r 2000000
|
||||||
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
|
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
|
||||||
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
dataman start
|
dataman start
|
||||||
|
@ -65,7 +70,7 @@ navigator start
|
||||||
ekf2 start
|
ekf2 start
|
||||||
gnd_pos_control start
|
gnd_pos_control start
|
||||||
gnd_att_control start
|
gnd_att_control start
|
||||||
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/rover_sitl.main.mix
|
mixer load /dev/pwm_output0 etc/mixers-sitl/rover_sitl.main.mix
|
||||||
mavlink start -x -u 14556 -r 4000000
|
mavlink start -x -u 14556 -r 4000000
|
||||||
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
||||||
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
dataman start
|
dataman start
|
||||||
|
@ -57,7 +62,7 @@ navigator start
|
||||||
ekf2 start
|
ekf2 start
|
||||||
mc_pos_control start
|
mc_pos_control start
|
||||||
mc_att_control start
|
mc_att_control start
|
||||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
|
mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix
|
||||||
mavlink start -x -u 14556 -r 4000000
|
mavlink start -x -u 14556 -r 4000000
|
||||||
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
||||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
dataman start
|
dataman start
|
||||||
|
@ -80,7 +85,7 @@ mc_att_control start
|
||||||
fw_pos_control_l1 start
|
fw_pos_control_l1 start
|
||||||
fw_att_control start
|
fw_att_control start
|
||||||
wind_estimator start
|
wind_estimator start
|
||||||
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
|
mixer load /dev/pwm_output0 etc/mixers-sitl/standard_vtol_sitl.main.mix
|
||||||
mavlink start -x -u 14556 -r 2000000 -f
|
mavlink start -x -u 14556 -r 2000000 -f
|
||||||
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 -f
|
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 -f
|
||||||
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14557
|
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14557
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
dataman start
|
dataman start
|
||||||
|
@ -63,7 +68,7 @@ mc_att_control start
|
||||||
fw_pos_control_l1 start
|
fw_pos_control_l1 start
|
||||||
fw_att_control start
|
fw_att_control start
|
||||||
wind_estimator start
|
wind_estimator start
|
||||||
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/quad_x_vtol.main.mix
|
mixer load /dev/pwm_output0 etc/mixers-sitl/quad_x_vtol.main.mix
|
||||||
mavlink start -x -u 14556 -r 2000000
|
mavlink start -x -u 14556 -r 2000000
|
||||||
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
|
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
|
||||||
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
dataman start
|
dataman start
|
||||||
|
@ -97,7 +102,7 @@ mc_att_control start
|
||||||
fw_pos_control_l1 start
|
fw_pos_control_l1 start
|
||||||
fw_att_control start
|
fw_att_control start
|
||||||
wind_estimator start
|
wind_estimator start
|
||||||
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/tiltrotor_sitl.main.mix
|
mixer load /dev/pwm_output0 etc/mixers-sitl/tiltrotor_sitl.main.mix
|
||||||
mavlink start -x -u 14556 -r 2000000 -f
|
mavlink start -x -u 14556 -r 2000000 -f
|
||||||
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 -f
|
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 -f
|
||||||
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14557
|
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14557
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
dataman start
|
dataman start
|
||||||
|
@ -63,8 +68,8 @@ navigator start
|
||||||
ekf2 start
|
ekf2 start
|
||||||
mc_pos_control start
|
mc_pos_control start
|
||||||
mc_att_control start
|
mc_att_control start
|
||||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix
|
mixer load /dev/pwm_output0 etc/mixers/hexa_x.main.mix
|
||||||
mixer append /dev/pwm_output0 ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
|
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
|
||||||
mavlink start -x -u 14556 -r 4000000
|
mavlink start -x -u 14556 -r 4000000
|
||||||
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
||||||
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
|
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
param set MAV_TYPE 2
|
param set MAV_TYPE 2
|
||||||
|
@ -59,7 +64,7 @@ attitude_estimator_q start
|
||||||
position_estimator_inav start
|
position_estimator_inav start
|
||||||
mc_pos_control start
|
mc_pos_control start
|
||||||
mc_att_control start
|
mc_att_control start
|
||||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
|
mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix
|
||||||
mavlink start -x -u 14556 -r 2000000
|
mavlink start -x -u 14556 -r 2000000
|
||||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||||
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
|
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
param set MAV_TYPE 2
|
param set MAV_TYPE 2
|
||||||
|
@ -61,7 +66,7 @@ attitude_estimator_q start
|
||||||
position_estimator_inav start
|
position_estimator_inav start
|
||||||
mc_pos_control start
|
mc_pos_control start
|
||||||
mc_att_control start
|
mc_att_control start
|
||||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
|
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
|
||||||
mavlink start -x -u 14556 -r 2000000
|
mavlink start -x -u 14556 -r 2000000
|
||||||
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
|
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
|
||||||
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
param set CAL_GYRO0_ID 2293768
|
param set CAL_GYRO0_ID 2293768
|
||||||
|
@ -14,7 +19,7 @@ dataman start
|
||||||
simulator start -s
|
simulator start -s
|
||||||
|
|
||||||
pwm_out_sim start
|
pwm_out_sim start
|
||||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_test/mixers/uuv_quad_x.mix
|
mixer load /dev/pwm_output0 etc/mixers/uuv_quad_x.mix
|
||||||
|
|
||||||
gyrosim start
|
gyrosim start
|
||||||
accelsim start
|
accelsim start
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
param set MAV_TYPE 2
|
param set MAV_TYPE 2
|
||||||
|
@ -61,7 +66,7 @@ attitude_estimator_q start
|
||||||
local_position_estimator start
|
local_position_estimator start
|
||||||
mc_pos_control start
|
mc_pos_control start
|
||||||
mc_att_control start
|
mc_att_control start
|
||||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
|
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
|
||||||
mavlink start -x -u 14556 -r 4000000
|
mavlink start -x -u 14556 -r 4000000
|
||||||
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
||||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
param set MAV_SYS_ID 1
|
param set MAV_SYS_ID 1
|
||||||
|
@ -63,7 +68,7 @@ attitude_estimator_q start
|
||||||
local_position_estimator start
|
local_position_estimator start
|
||||||
mc_pos_control start
|
mc_pos_control start
|
||||||
mc_att_control start
|
mc_att_control start
|
||||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
|
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
|
||||||
mavlink start -x -u 14556 -r 4000000
|
mavlink start -x -u 14556 -r 4000000
|
||||||
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
||||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
param set MAV_SYS_ID 2
|
param set MAV_SYS_ID 2
|
||||||
|
@ -63,7 +68,7 @@ attitude_estimator_q start
|
||||||
local_position_estimator start
|
local_position_estimator start
|
||||||
mc_pos_control start
|
mc_pos_control start
|
||||||
mc_att_control start
|
mc_att_control start
|
||||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
|
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
|
||||||
mavlink start -x -u 14558 -r 4000000
|
mavlink start -x -u 14558 -r 4000000
|
||||||
mavlink start -x -u 14559 -r 4000000 -m onboard -o 14541
|
mavlink start -x -u 14559 -r 4000000 -m onboard -o 14541
|
||||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14558
|
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14558
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
param set MAV_TYPE 2
|
param set MAV_TYPE 2
|
||||||
|
@ -70,7 +75,7 @@ local_position_estimator start
|
||||||
landing_target_estimator start
|
landing_target_estimator start
|
||||||
mc_pos_control start
|
mc_pos_control start
|
||||||
mc_att_control start
|
mc_att_control start
|
||||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
|
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
|
||||||
mavlink start -u 14556 -r 4000000
|
mavlink start -u 14556 -r 4000000
|
||||||
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
|
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
|
||||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
param set MAV_TYPE 2
|
param set MAV_TYPE 2
|
||||||
|
@ -79,7 +84,7 @@ attitude_estimator_q start
|
||||||
local_position_estimator start
|
local_position_estimator start
|
||||||
mc_pos_control start
|
mc_pos_control start
|
||||||
mc_att_control start
|
mc_att_control start
|
||||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
|
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
|
||||||
mavlink start -x -u 14556 -r 2000000
|
mavlink start -x -u 14556 -r 2000000
|
||||||
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
|
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
|
||||||
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
param set MAV_TYPE 2
|
param set MAV_TYPE 2
|
||||||
|
@ -37,7 +42,6 @@ param set MC_PITCHRATE_P 0.2
|
||||||
param set MC_PITCH_P 6
|
param set MC_PITCH_P 6
|
||||||
param set MC_ROLL_P 6
|
param set MC_ROLL_P 6
|
||||||
param set MPC_HOLD_MAX_Z 2.0
|
param set MPC_HOLD_MAX_Z 2.0
|
||||||
param set MPC_HOLD_XY_DZ 0.1
|
|
||||||
param set MPC_Z_VEL_P 0.6
|
param set MPC_Z_VEL_P 0.6
|
||||||
param set MPC_Z_VEL_I 0.15
|
param set MPC_Z_VEL_I 0.15
|
||||||
param set LPE_FUSION 242
|
param set LPE_FUSION 242
|
||||||
|
@ -61,7 +65,7 @@ attitude_estimator_q start
|
||||||
local_position_estimator start
|
local_position_estimator start
|
||||||
mc_pos_control start
|
mc_pos_control start
|
||||||
mc_att_control start
|
mc_att_control start
|
||||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
|
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
|
||||||
mavlink start -x -u 14556 -r 4000000
|
mavlink start -x -u 14556 -r 4000000
|
||||||
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
||||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
param set MAV_TYPE 1
|
param set MAV_TYPE 1
|
||||||
|
@ -66,7 +71,7 @@ local_position_estimator start
|
||||||
fw_pos_control_l1 start
|
fw_pos_control_l1 start
|
||||||
fw_att_control start
|
fw_att_control start
|
||||||
land_detector start fixedwing
|
land_detector start fixedwing
|
||||||
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/plane_sitl.main.mix
|
mixer load /dev/pwm_output0 etc/mixers-sitl/plane_sitl.main.mix
|
||||||
mavlink start -x -u 14556 -r 2000000
|
mavlink start -x -u 14556 -r 2000000
|
||||||
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
|
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
|
||||||
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
dataman start
|
dataman start
|
||||||
|
@ -61,7 +66,7 @@ navigator start
|
||||||
ekf2 start
|
ekf2 start
|
||||||
gnd_pos_control start
|
gnd_pos_control start
|
||||||
gnd_att_control start
|
gnd_att_control start
|
||||||
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/rover_sitl.main.mix
|
mixer load /dev/pwm_output0 etc/mixers-sitl/rover_sitl.main.mix
|
||||||
mavlink start -x -u 14556 -r 4000000
|
mavlink start -x -u 14556 -r 4000000
|
||||||
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
||||||
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
param set MAV_TYPE 2
|
param set MAV_TYPE 2
|
||||||
|
@ -61,7 +66,7 @@ attitude_estimator_q start
|
||||||
local_position_estimator start
|
local_position_estimator start
|
||||||
mc_pos_control start
|
mc_pos_control start
|
||||||
mc_att_control start
|
mc_att_control start
|
||||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
|
mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix
|
||||||
mavlink start -x -u 14556 -r 4000000
|
mavlink start -x -u 14556 -r 4000000
|
||||||
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
||||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
param set MAV_TYPE 22
|
param set MAV_TYPE 22
|
||||||
|
@ -74,7 +79,7 @@ mc_pos_control start
|
||||||
mc_att_control start
|
mc_att_control start
|
||||||
fw_pos_control_l1 start
|
fw_pos_control_l1 start
|
||||||
fw_att_control start
|
fw_att_control start
|
||||||
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
|
mixer load /dev/pwm_output0 etc/mixers-sitl/standard_vtol_sitl.main.mix
|
||||||
mavlink start -x -u 14556 -r 2000000
|
mavlink start -x -u 14556 -r 2000000
|
||||||
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
|
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
|
||||||
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14540
|
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14540
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
param load
|
param load
|
||||||
param set MAV_TYPE 13
|
param set MAV_TYPE 13
|
||||||
|
@ -58,8 +63,8 @@ attitude_estimator_q start
|
||||||
local_position_estimator start
|
local_position_estimator start
|
||||||
mc_pos_control start
|
mc_pos_control start
|
||||||
mc_att_control start
|
mc_att_control start
|
||||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix
|
mixer load /dev/pwm_output0 etc/mixers/hexa_x.main.mix
|
||||||
mixer append /dev/pwm_output0 ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
|
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
|
||||||
mavlink start -x -u 14556 -r 4000000
|
mavlink start -x -u 14556 -r 4000000
|
||||||
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
|
||||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||||
|
|
|
@ -1,59 +0,0 @@
|
||||||
uorb start
|
|
||||||
param load
|
|
||||||
param set MAV_TYPE 1
|
|
||||||
param set SYS_AUTOSTART 3033
|
|
||||||
param set SYS_RESTART_TYPE 2
|
|
||||||
dataman start
|
|
||||||
param set BAT_N_CELLS 3
|
|
||||||
param set CAL_GYRO0_ID 2293768
|
|
||||||
param set CAL_ACC0_ID 1376264
|
|
||||||
param set CAL_ACC1_ID 1310728
|
|
||||||
param set CAL_MAG0_ID 196616
|
|
||||||
param set CAL_GYRO0_XOFF 0.01
|
|
||||||
param set CAL_ACC0_XOFF 0.01
|
|
||||||
param set CAL_ACC0_YOFF -0.01
|
|
||||||
param set CAL_ACC0_ZOFF 0.01
|
|
||||||
param set CAL_ACC0_XSCALE 1.01
|
|
||||||
param set CAL_ACC0_YSCALE 1.01
|
|
||||||
param set CAL_ACC0_ZSCALE 1.01
|
|
||||||
param set CAL_ACC1_XOFF 0.01
|
|
||||||
param set CAL_MAG0_XOFF 0.01
|
|
||||||
param set SENS_BOARD_ROT 8
|
|
||||||
param set SENS_DPRES_OFF 0.001
|
|
||||||
param set SENS_BOARD_X_OFF 0.000001
|
|
||||||
param set COM_RC_IN_MODE 1
|
|
||||||
param set NAV_DLL_ACT 2
|
|
||||||
param set NAV_ACC_RAD 15.0
|
|
||||||
param set FW_THR_IDLE 0.6
|
|
||||||
param set FS_GCS_ENABLE 2
|
|
||||||
replay tryapplyparams
|
|
||||||
simulator start -s
|
|
||||||
tone_alarm start
|
|
||||||
gyrosim start
|
|
||||||
accelsim start
|
|
||||||
barosim start
|
|
||||||
gpssim start
|
|
||||||
measairspeedsim start
|
|
||||||
pwm_out_sim start
|
|
||||||
sensors start
|
|
||||||
commander start
|
|
||||||
navigator start
|
|
||||||
ekf2 start
|
|
||||||
fw_pos_control_l1 start
|
|
||||||
fw_att_control start
|
|
||||||
land_detector start fixedwing
|
|
||||||
mixer load /dev/pwm_output0 ../../../../ROMFS/sitl/mixers/delta_wing_sitl.main.mix
|
|
||||||
mavlink start -x -u 14556 -r 2000000
|
|
||||||
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
|
|
||||||
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
|
||||||
mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
|
|
||||||
mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
|
|
||||||
mavlink stream -r 80 -s ATTITUDE -u 14556
|
|
||||||
mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
|
|
||||||
mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
|
|
||||||
mavlink stream -r 20 -s RC_CHANNELS -u 14556
|
|
||||||
mavlink stream -r 250 -s HIGHRES_IMU -u 14556
|
|
||||||
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
|
|
||||||
logger start -e -t
|
|
||||||
mavlink boot_complete
|
|
||||||
replay trystart
|
|
|
@ -1,21 +0,0 @@
|
||||||
#!/usr/bin/bash
|
|
||||||
|
|
||||||
# PX4 commands need the 'px4-' prefix in bash.
|
|
||||||
# (px4-alias.sh is expected to be in the PATH)
|
|
||||||
source px4-alias.sh
|
|
||||||
|
|
||||||
uorb start
|
|
||||||
|
|
||||||
param load
|
|
||||||
param set SYS_RESTART_TYPE 0
|
|
||||||
|
|
||||||
dataman start
|
|
||||||
|
|
||||||
rgbledsim start
|
|
||||||
tone_alarm start
|
|
||||||
|
|
||||||
ver all
|
|
||||||
|
|
||||||
tests all
|
|
||||||
|
|
||||||
shutdown
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
|
|
||||||
param load
|
param load
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
|
|
||||||
param load
|
param load
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
|
|
||||||
param load
|
param load
|
||||||
|
|
|
@ -1,3 +1,8 @@
|
||||||
|
#!/usr/bin/bash
|
||||||
|
# PX4 commands need the 'px4-' prefix in bash.
|
||||||
|
# (px4-alias.sh is expected to be in the PATH)
|
||||||
|
source px4-alias.sh
|
||||||
|
|
||||||
uorb start
|
uorb start
|
||||||
|
|
||||||
param load
|
param load
|
||||||
|
|
Loading…
Reference in New Issue