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cmake: add posix_sitl_inav target

This commit is contained in:
Beat Küng 2016-09-28 19:24:48 +02:00
parent acc1cc3158
commit bb61144efc
2 changed files with 18 additions and 7 deletions
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6
cmake/configs/posix_sitl_inav.cmake Normal file
View File

@ -0,0 +1,6 @@
include(cmake/configs/posix_sitl_default.cmake)
set(config_sitl_rcS_dir
posix-configs/SITL/init/inav
)

19
posix-configs/SITL/init/inav/iris
View File

@ -42,8 +42,9 @@ param set MP_PITCH_P 4
param set MP_PITCHRATE_P 0.3
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
replay tryapplyparams
simulator start -s
rgbled start
rgbledsim start
tone_alarm start
gyrosim start
accelsim start
@ -62,12 +63,16 @@ 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_QUATERNION -u 14556
mavlink stream -r 80 -s ATTITUDE_TARGET -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 GLOBAL_POSITION_INT -u 14556
mavlink stream -r 50 -s ATTITUDE -u 14556
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -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