forked from Archive/PX4-Autopilot
63 lines
1.0 KiB
Bash
63 lines
1.0 KiB
Bash
#!/bin/sh
|
|
# PX4 commands need the 'px4-' prefix in bash.
|
|
# (px4-alias.sh is expected to be in the PATH)
|
|
. px4-alias.sh
|
|
|
|
param load
|
|
param set CBRK_SUPPLY_CHK 894281
|
|
|
|
dataman start
|
|
|
|
tone_alarm start
|
|
|
|
ver all
|
|
|
|
param set IMU_GYRO_RATEMAX 1000
|
|
|
|
param set IMU_GYRO_FFT_EN 1
|
|
param set IMU_GYRO_FFT_MIN 10
|
|
param set IMU_GYRO_FFT_MAX 1000
|
|
param set IMU_GYRO_FFT_LEN 512
|
|
param set IMU_GYRO_FFT_SNR 10
|
|
|
|
# dynamic notches ESC/FFT/both
|
|
#param set IMU_GYRO_DNF_EN 1
|
|
#param set IMU_GYRO_DNF_EN 2
|
|
param set IMU_GYRO_DNF_EN 3
|
|
|
|
param set IMU_GYRO_DNF_BW 15
|
|
param set IMU_GYRO_DNF_HMC 3
|
|
param set IMU_GYRO_DNF_MIN 25
|
|
|
|
# test values
|
|
param set IMU_GYRO_CUTOFF 60
|
|
param set IMU_DGYRO_CUTOFF 40
|
|
#param set IMU_GYRO_NF0_FRQ 60
|
|
#param set IMU_GYRO_NF0_BW 5
|
|
|
|
# log nearly everything
|
|
param set SDLOG_PROFILE 859
|
|
|
|
fake_imu start
|
|
|
|
sensors start
|
|
gyro_fft start
|
|
|
|
logger start -f -t -b 10000 -p sensor_gyro
|
|
logger on
|
|
|
|
echo "Running for 10 seconds"
|
|
sleep 10
|
|
|
|
logger off
|
|
|
|
sensors status
|
|
listener sensor_gyro
|
|
listener sensor_gyro_fifo
|
|
listener sensor_gyro_fft
|
|
perf
|
|
|
|
echo "ALL TESTS PASSED"
|
|
|
|
shutdown
|