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36 lines
910 B
36 lines
910 B
#!/bin/bash |
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# a quad following a plane |
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# assume we start the script from the root directory |
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ROOTDIR=$PWD |
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COPTER=$ROOTDIR/build/sitl/bin/arducopter |
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PLANE=$ROOTDIR/build/sitl/bin/arduplane |
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[ -x "$COPTER" -a -x "$PLANE" ] || { |
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./waf configure --board sitl |
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./waf plane copter |
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} |
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# setup for either TCP or multicast |
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#UARTA="tcp:0" |
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UARTA="mcast:" |
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PLANE_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/plane.parm" |
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COPTER_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/copter.parm" |
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mkdir -p swarm/plane swarm/copter |
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(cd swarm/plane && $PLANE --model plane --uartA $UARTA --defaults $PLANE_DEFAULTS) & |
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# create default parameter file for the follower |
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cat <<EOF > swarm/copter/follow.parm |
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SYSID_THISMAV 2 |
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FOLL_ENABLE 1 |
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FOLL_OFS_X -5 |
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FOLL_OFS_TYPE 1 |
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FOLL_SYSID 1 |
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FOLL_DIST_MAX 1000 |
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EOF |
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(cd swarm/copter && $COPTER --model quad --uartA $UARTA --instance 1 --defaults $COPTER_DEFAULTS,follow.parm) & |
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wait
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