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37 lines
1.0 KiB
37 lines
1.0 KiB
#!/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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# config for a quad without any shield: |
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# - u-blox GPS connected via UART |
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# - PWM output using PCA9685 via I2C |
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# - RC input via shared memory from ppmdecode (https://github.com/crossa/raspberry-pi-ppm-rc-in), |
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# GPIO input |
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uorb start |
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param load |
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param set SYS_AUTOSTART 4001 |
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param set MAV_BROADCAST 1 |
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sleep 1 |
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param set MAV_TYPE 2 |
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df_mpu9250_wrapper start -R 10 |
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df_ms5611_wrapper start |
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gps start -d /dev/ttyACM0 -i uart -p ubx |
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sensors start |
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commander start |
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attitude_estimator_q start |
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position_estimator_inav 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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mavlink start -x -u 14556 -r 1000000 |
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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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#mavlink start -x -d /dev/ttyUSB0 |
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#mavlink stream -d /dev/ttyUSB0 -s HIGHRES_IMU -r 50 |
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#mavlink stream -d /dev/ttyUSB0 -s ATTITUDE -r 50 |
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rpi_rc_in start |
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linux_pwm_out start -p pca9685 |
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logger start -t |
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mavlink boot_complete
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