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75 lines
1.0 KiB
75 lines
1.0 KiB
#!nsh |
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# |
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# USB MAVLink start |
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# |
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echo "Starting MAVLink on this USB console" |
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# Stop tone alarm |
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tone_alarm stop |
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# |
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# Check for UORB |
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# |
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if uorb start |
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then |
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echo "uORB started" |
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fi |
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# Tell MAVLink that this link is "fast" |
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if mavlink stop |
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then |
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echo "stopped other MAVLink instance" |
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fi |
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mavlink start -b 230400 -d /dev/ttyACM0 |
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# Stop commander |
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if commander stop |
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then |
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echo "Commander stopped" |
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fi |
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sleep 1 |
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# Start the commander |
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if commander start |
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then |
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echo "Commander started" |
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fi |
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# Start px4io if present |
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if px4io start |
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then |
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echo "PX4IO driver started" |
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else |
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if fmu mode_serial |
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then |
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echo "FMU driver started" |
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fi |
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fi |
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# Start sensors |
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sh /etc/init.d/rc.sensors |
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# Start one of the estimators |
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if attitude_estimator_ekf status |
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then |
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echo "multicopter att filter running" |
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else |
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if att_pos_estimator_ekf status |
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then |
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echo "fixedwing att filter running" |
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else |
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attitude_estimator_ekf start |
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fi |
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fi |
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# Start GPS |
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if gps start |
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then |
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echo "GPS started" |
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fi |
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echo "MAVLink started, exiting shell.." |
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# Exit shell to make it available to MAVLink |
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exit
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