You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
104 lines
2.3 KiB
104 lines
2.3 KiB
#!/bin/sh |
|
|
|
# PX4 commands need the 'px4-' prefix in bash. |
|
# (px4-alias.sh is expected to be in the PATH) |
|
. px4-alias.sh |
|
|
|
uorb start |
|
muorb start |
|
|
|
# We need to wait until the DSP side is ready before |
|
# sending commands with qshell. |
|
sleep 1 |
|
|
|
# default, generic quad platform |
|
if param compare SYS_AUTOSTART 4100 |
|
then |
|
param set MAV_TYPE 2 |
|
|
|
qshell pwm_out_rc_in start -d /dev/tty-2 |
|
|
|
qshell gps start -d /dev/tty-4 |
|
qshell hmc5883 start |
|
|
|
# Qualcomm 200qx microheli platform |
|
elif param compare SYS_AUTOSTART 4200 |
|
then |
|
param set MAV_TYPE 2 |
|
param set MC_YAW_P 7.0 |
|
param set MC_YAWRATE_P 0.08 |
|
param set MC_YAWRATE_I 0.0 |
|
param set MC_YAWRATE_D 0 |
|
param set MC_PITCH_P 7.0 |
|
param set MC_PITCHRATE_P 0.08 |
|
param set MC_PITCHRATE_I 0.0 |
|
param set MC_PITCHRATE_D 0.0001 |
|
param set MC_ROLL_P 7.0 |
|
param set MC_ROLLRATE_P 0.08 |
|
param set MC_ROLLRATE_I 0.0 |
|
param set MC_ROLLRATE_D 0.0001 |
|
param set SENS_BOARD_ROT 0 |
|
|
|
# Qualcomm internal 210qc platform |
|
elif param compare SYS_AUTOSTART 4210 |
|
then |
|
param set MAV_TYPE 2 |
|
param set MC_YAW_P 12 |
|
param set MC_YAWRATE_P 0.08 |
|
param set MC_YAWRATE_I 0.0 |
|
param set MC_YAWRATE_D 0 |
|
param set MC_PITCH_P 7.0 |
|
param set MC_PITCHRATE_P 0.08 |
|
param set MC_PITCHRATE_I 0.0 |
|
param set MC_PITCHRATE_D 0.001 |
|
param set MC_ROLL_P 7.0 |
|
param set MC_ROLLRATE_P 0.08 |
|
param set MC_ROLLRATE_I 0.0 |
|
param set MC_ROLLRATE_D 0.001 |
|
param set SENS_BOARD_ROT 0 |
|
|
|
else |
|
echo "NO AIRFRAME CHOSEN!" |
|
echo "Please set parameter to select airframe:" |
|
echo " SYS_AUTOSTART 4100: generic (flight) Quad" |
|
echo " SYS_AUTOSTART 4200: Microheli 200QX" |
|
fi |
|
|
|
|
|
qshell mpu9250 start |
|
qshell bmp280 start |
|
qshell rc_update start |
|
qshell sensors start |
|
|
|
if param compare SYS_MC_EST_GROUP 1 |
|
then |
|
qshell attitude_estimator_q start |
|
qshell local_position_estimator start |
|
|
|
elif param compare SYS_MC_EST_GROUP 2 |
|
then |
|
param set EKF2_GBIAS_INIT 0.01 |
|
param set EKF2_ANGERR_INIT 0.01 |
|
qshell ekf2 start |
|
else |
|
echo "No estimator chosen" |
|
exit -1 |
|
fi |
|
|
|
qshell commander start |
|
qshell land_detector start multicopter |
|
qshell mc_hover_thrust_estimator start |
|
qshell mc_pos_control start |
|
qshell mc_att_control start |
|
qshell mc_rate_control start |
|
|
|
logger start -b 200 -t |
|
|
|
param set MAV_BROADCAST 1 |
|
dataman start |
|
navigator start |
|
mavlink start -u 14556 -r 1000000 |
|
mavlink stream -u 14556 -s HIGHRES_IMU -r 50 |
|
mavlink stream -u 14556 -s ATTITUDE -r 50 |
|
mavlink stream -u 14556 -s RC_CHANNELS -r 20 |
|
mavlink boot_complete
|
|
|