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Added launchfile to launch gazebo iris and mavros bridge. Added sitl_gazebo to makefile and new init rc file for gazebo iris apps and params

This commit is contained in:
devbharat 2015-07-23 15:45:59 +02:00
parent 620108bc9b
commit 9a6f52736b
3 changed files with 73 additions and 2 deletions
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3
Makefile
View File

@ -200,7 +200,8 @@ endif
sitl_quad:
$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rcS
sitl_quad_gazebo:
$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rc_iris_ros
sitl_plane:
$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rc.fixed_wing

1
posix-configs/SITL/init/rcS
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@ -26,6 +26,7 @@ param set CAL_MAG0_XOFF 0.01
param set MPC_XY_P 0.4
param set MPC_XY_VEL_P 0.2
param set MPC_XY_VEL_D 0.005
param set SENS_BOARD_ROT 0
rgbled start
tone_alarm start
gyrosim start

69
posix-configs/SITL/init/rc_iris_ros Normal file
View File

@ -0,0 +1,69 @@
uorb start
simulator start -s
param load
param set MAV_TYPE 2
param set MC_PITCHRATE_P 0.15
param set MC_ROLLRATE_P 0.15
param set MC_YAW_P 2.0
param set MC_YAWRATE_P 0.35
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
param set COM_RC_IN_MODE 2
dataman start
param set CAL_GYRO0_ID 2293760
param set CAL_ACC0_ID 1376256
param set CAL_ACC1_ID 1310720
param set CAL_MAG0_ID 196608
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 MPC_XY_P 0.4
param set MPC_XY_VEL_P 0.2
param set MPC_XY_VEL_D 0.005
param set MPP_XY_P 1.0
param set MPP_XY_FF 0.0
param set MPP_XY_VEL_P 0.01
param set MPP_XY_VEL_I 0.0
param set MPP_XY_VEL_D 0.01
param set MPP_XY_VEL_MAX 2.0
param set MPP_Z_VEL_P 0.3
param set MPP_Z_P 2
param set SENS_BOARD_ROT 8
param set MP_ROLL_P 3
param set MP_ROLLRATE_P 0.3
param set MP_ROLLRATE_I 0.001
param set MP_ROLLRATE_D 0.001
param set MP_PITCH_P 4
param set MP_PITCHRATE_P 0.3
rgbled start
tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
hil mode_pwm
commander start
sensors start
land_detector start multicopter
navigator start
attitude_estimator_q start
position_estimator_inav start
mc_pos_control_m start
mc_att_control_m start
mixer load /dev/pwm_output0 ../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
mavlink start -u 14556 -r 2000000
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_TARGET -u 14556
mavlink stream -r 20 -s RC_CHANNELS -u 14556
mavlink stream -r 250 -s HIGHRES_IMU -u 14556