forked from Archive/PX4-Autopilot
84 lines
1.4 KiB
Bash
84 lines
1.4 KiB
Bash
#!/bin/sh
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# PX4 commands need the 'px4-' prefix in bash.
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# (px4-alias.sh is expected to be in the PATH)
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. px4-alias.sh
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uorb start
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if [ -f eeprom/parameters ]
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then
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param load
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fi
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# system_power not implemented
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param set CBRK_SUPPLY_CHK 894281
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# broadcast to LAN
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param set MAV_BROADCAST 1
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# always keep current config
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param set SYS_AUTOCONFIG 0
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# useless but required for parameter completeness
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param set MAV_TYPE 1
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param set SYS_AUTOSTART 2100
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# Multi-EKF
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param set EKF2_MULTI_IMU 1
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param set SENS_IMU_MODE 0
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param set EKF2_MULTI_MAG 1
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param set SENS_MAG_MODE 0
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dataman start
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load_mon start
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battery_status start
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# internal IMU
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if ! icm42688p start -q -s -R 4
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then
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# some boards has ICM42605 instead
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icm42605 start -s -R 4
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fi
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if ! ist8310 start -q -I -a 15 -R 4
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then
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# some boards has QMC5883l instead
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qmc5883l start -I -R 6
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fi
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ms5611 start -I
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# ADC
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ads1115 start -I
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# PWM
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pca9685_pwm_out start
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mixer load /dev/pwm_output0 etc/mixers/AAERTWF.main.mix
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# external GPS & compass
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gps start -d /dev/ttySC0 -i uart -p ubx -s
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#hmc5883 start -X
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#ist8310 start -X
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# Airspeed
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ms4525_airspeed start -X
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rc_input start -d /dev/ttyAMA0
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rc_update start
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sensors start
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commander start
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navigator start
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ekf2 start
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airspeed_selector start
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land_detector start fixedwing
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flight_mode_manager start
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fw_att_control start
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fw_pos_control_l1 start
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mavlink start -x -u 14556 -r 1000000
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# Telem
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mavlink start -x -Z -d /dev/ttySC1
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logger start -t -b 200
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mavlink boot_complete
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