forked from Archive/PX4-Autopilot
18 lines
600 B
Bash
18 lines
600 B
Bash
#!/bin/sh
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#
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# board specific MAVLink startup script.
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#------------------------------------------------------------------------------
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# MAVLink instance for Gimbal control & generic WiFi connection (e.g. QGC)
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set GIMBAL_TTY /dev/ttyS3
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set MAV_RATE 40000
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set BAUDRATE 500000
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mavlink start -r ${MAV_RATE} -d ${GIMBAL_TTY} -b ${BAUDRATE} -x
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mavlink stream -d ${GIMBAL_TTY} -s SYSTEM_TIME -r 0.5
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mavlink stream -d ${GIMBAL_TTY} -s AUTOPILOT_STATE_FOR_GIMBAL_DEVICE -r 20
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mavlink stream -d ${GIMBAL_TTY} -s GIMBAL_DEVICE_SET_ATTITUDE -r 20
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# optical flow
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mavlink start -d /dev/ttyS2 -m custom -b 500000
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