forked from Archive/PX4-Autopilot
81 lines
1.0 KiB
Plaintext
81 lines
1.0 KiB
Plaintext
#!nsh
|
|
|
|
# Disable USB and autostart
|
|
set USB no
|
|
set MODE camflyer
|
|
|
|
#
|
|
# Start the ORB
|
|
#
|
|
uorb start
|
|
|
|
#
|
|
# Load microSD params
|
|
#
|
|
echo "[init] loading microSD params"
|
|
param select /fs/microsd/parameters
|
|
if [ -f /fs/microsd/parameters ]
|
|
then
|
|
param load /fs/microsd/parameters
|
|
fi
|
|
|
|
#
|
|
# Force some key parameters to sane values
|
|
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
|
# see https://pixhawk.ethz.ch/mavlink/
|
|
#
|
|
param set MAV_TYPE 1
|
|
|
|
#
|
|
# Start the sensors.
|
|
#
|
|
sh /etc/init.d/rc.sensors
|
|
|
|
#
|
|
# Start MAVLink
|
|
#
|
|
mavlink start -d /dev/ttyS1 -b 57600
|
|
usleep 5000
|
|
|
|
#
|
|
# Start the commander.
|
|
#
|
|
commander start
|
|
|
|
#
|
|
# Start GPS interface
|
|
#
|
|
gps start
|
|
|
|
#
|
|
# Start the attitude estimator
|
|
#
|
|
kalman_demo start
|
|
|
|
#
|
|
# Start PX4IO interface
|
|
#
|
|
px4io start
|
|
|
|
#
|
|
# Load mixer and start controllers
|
|
#
|
|
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
|
|
control_demo start
|
|
|
|
#
|
|
# Start logging
|
|
#
|
|
sdlog start -s 10
|
|
|
|
#
|
|
# Start system state
|
|
#
|
|
if blinkm start
|
|
then
|
|
echo "using BlinkM for state indication"
|
|
blinkm systemstate
|
|
else
|
|
echo "no BlinkM found, OK."
|
|
fi
|