forked from Archive/PX4-Autopilot
added mecanum apps and defaults
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7bebfcfae8
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@ -3,7 +3,7 @@
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# @type Rover
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# @type Rover
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# @class Rover
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# @class Rover
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. ${R}etc/init.d/rc.rover_differential_defaults
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. ${R}etc/init.d/rc.rover_mecanum_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
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PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
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PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
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PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
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@ -53,6 +53,8 @@ px4_add_romfs_files(
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rc.rover_defaults
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rc.rover_defaults
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rc.rover_differential_apps
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rc.rover_differential_apps
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rc.rover_differential_defaults
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rc.rover_differential_defaults
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rc.rover_mecanum_apps
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rc.rover_mecanum_defaults
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rc.uuv_apps
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rc.uuv_apps
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rc.uuv_defaults
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rc.uuv_defaults
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rc.vehicle_setup
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rc.vehicle_setup
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@ -5,7 +5,7 @@
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ekf2 start &
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ekf2 start &
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# Start rover differential drive controller.
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# Start rover differential drive controller.
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mecanum_drive start
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differential_drive start
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# Start Land Detector.
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# Start Land Detector.
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land_detector start rover
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land_detector start rover
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@ -6,6 +6,6 @@ set VEHICLE_TYPE rover_differential
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param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
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param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
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param set-default CA_AIRFRAME 6 # Rover (Differential)
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param set-default CA_AIRFRAME 6 # Rover (Differential)
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param set-default CA_R_REV 15 # Right and left motors reversible
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param set-default CA_R_REV 3 # Right and left motors reversible
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param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying
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param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying
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@ -0,0 +1,11 @@
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#!/bin/sh
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# Standard apps for a mecanum drive rover.
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# Start the attitude and position estimator.
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ekf2 start &
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# Start rover mecanum drive controller.
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mecanum_drive start
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# Start Land Detector.
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land_detector start rover
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@ -0,0 +1,11 @@
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#!/bin/sh
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# Mecanum rover parameters.
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set VEHICLE_TYPE rover_mecanum
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param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
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param set-default CA_AIRFRAME 13 # Rover (Mecanum)
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param set-default CA_R_REV 15 # Right and left motors reversible
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param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying
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@ -41,6 +41,15 @@ then
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. ${R}etc/init.d/rc.rover_differential_apps
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. ${R}etc/init.d/rc.rover_differential_apps
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fi
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fi
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#
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# Mecanum Rover setup.
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#
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if [ $VEHICLE_TYPE = rover_mecanum ]
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then
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# Start mecanum drive rover apps.
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. ${R}etc/init.d/rc.rover_mecanum_apps
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fi
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#
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#
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# VTOL setup.
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# VTOL setup.
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#
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#
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