forked from Archive/PX4-Autopilot
33 lines
935 B
Plaintext
33 lines
935 B
Plaintext
# config for a quad without any shield:
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# - u-blox GPS connected via UART
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# - PWM output using PCA9685 via I2C
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# - RC input via shared memory from ppmdecode (https://github.com/crossa/raspberry-pi-ppm-rc-in),
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# GPIO input
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uorb start
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param load
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param set SYS_AUTOSTART 4001
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param set MAV_BROADCAST 1
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sleep 1
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param set MAV_TYPE 2
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df_mpu9250_wrapper start -R 10
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df_ms5611_wrapper start
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gps start -d /dev/ttyACM0 -i uart -p ubx
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sensors start
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commander start
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attitude_estimator_q start
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position_estimator_inav start
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land_detector start multicopter
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mc_pos_control start
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mc_att_control start
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mavlink start -u 14556 -r 1000000
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sleep 1
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mavlink stream -u 14556 -s HIGHRES_IMU -r 50
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mavlink stream -u 14556 -s ATTITUDE -r 50
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#mavlink start -d /dev/ttyUSB0
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#mavlink stream -d /dev/ttyUSB0 -s HIGHRES_IMU -r 50
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#mavlink stream -d /dev/ttyUSB0 -s ATTITUDE -r 50
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rpi_rc_in start
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linux_pwm_out start -p pca9685
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logger start -t
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mavlink boot_complete
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