forked from Archive/PX4-Autopilot
64 lines
1.4 KiB
Bash
64 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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param select /home/root/parameters
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if [ -f /home/root/parameters ]
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then
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param load
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fi
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param set SYS_AUTOSTART 4013
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param set MAV_BROADCAST 1
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param set MAV_TYPE 2
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param set MPC_XY_VEL_P 0.12
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param set MPC_XY_P 1.3
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param set MPC_XY_VEL_D 0.006
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param set MPC_XY_VEL_I 0.05
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param set MPC_XY_VEL_MAX 8
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param set MPC_Z_VEL_P 0.3
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param set MPC_Z_VEL_I 0.1
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param set MC_YAW_P 3.0
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param set MC_YAWRATE_P 0.05
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param set MC_YAWRATE_I 3.0
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param set MC_ROLLRATE_P 0.07
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param set MC_ROLLRATE_I 0.5
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param set MC_ROLLRATE_D 0.0
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param set MC_RR_INT_LIM 0.5
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param set MC_PITCHRATE_P 0.1
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param set MC_PITCHRATE_I 0.8
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param set MC_PITCHRATE_D 0.0
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param set MC_PR_INT_LIM 0.5
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param set SYS_MC_EST_GROUP 2
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df_ms5607_wrapper start
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df_mpu6050_wrapper start -R 8
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df_ak8963_wrapper start -R 32
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# Rangefinder disabled for now. It was found to cause delays of more than 10ms
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#df_bebop_rangefinder_wrapper start
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gps start -d /dev/ttyPA1
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bebop_flow start
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sensors start
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commander start
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ekf2 start
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dataman start
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navigator 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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sleep 1
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mavlink start -x -u 14556 -r 20000
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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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df_bebop_bus_wrapper start
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mavlink boot_complete
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logger start -b 200 -e -t
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