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249 lines
5.7 KiB
249 lines
5.7 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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# shellcheck disable=SC1091 |
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. px4-alias.sh |
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SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)" |
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# |
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# Main SITL startup script |
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# |
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# check for ekf2 replay |
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# shellcheck disable=SC2154 |
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if [ "$replay_mode" = "ekf2" ] |
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then |
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sh etc/init.d-posix/rc.replay |
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exit 0 |
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fi |
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# initialize script variables |
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set AUX_MODE none |
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set IO_PRESENT no |
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set LOG_FILE bootlog.txt |
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set MAV_TYPE none |
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set MIXER none |
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set MIXER_AUX none |
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set MIXER_FILE none |
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set OUTPUT_MODE sim |
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set PWM_OUT none |
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set SDCARD_MIXERS_PATH etc/mixers |
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set USE_IO no |
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set VEHICLE_TYPE none |
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set RUN_MINIMAL_SHELL no |
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# Use the variable set by sitl_run.sh to choose the model settings. |
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if [ "$PX4_SIM_MODEL" = "shell" ]; then |
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set RUN_MINIMAL_SHELL yes |
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else |
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# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL}) |
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# TODO: unify with rc.autostart generation |
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# shellcheck disable=SC2012 |
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REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p') |
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if [ -z "$REQUESTED_AUTOSTART" ]; then |
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echo "Error: Unknown model '$PX4_SIM_MODEL'" |
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exit -1 |
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fi |
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fi |
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# clear bootlog |
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[ -f $LOG_FILE ] && rm $LOG_FILE |
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uorb start |
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if [ -f eeprom/parameters ] |
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then |
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param load |
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fi |
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# exit early when the minimal shell is requested |
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[ $RUN_MINIMAL_SHELL = yes ] && exit 0 |
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# Use environment variable PX4_ESTIMATOR to choose estimator. |
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if [ "$PX4_ESTIMATOR" = "ekf2" ]; then |
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param set SYS_MC_EST_GROUP 2 |
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elif [ "$PX4_ESTIMATOR" = "lpe" ]; then |
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param set SYS_MC_EST_GROUP 1 |
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elif [ "$PX4_ESTIMATOR" = "inav" ]; then |
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param set SYS_MC_EST_GROUP 0 |
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fi |
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if param compare SYS_AUTOSTART $REQUESTED_AUTOSTART |
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then |
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set AUTOCNF no |
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else |
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set AUTOCNF yes |
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fi |
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# multi-instance setup |
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# shellcheck disable=SC2154 |
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param set MAV_SYS_ID $((px4_instance+1)) |
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simulator_udp_port=$((14560+px4_instance)) |
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udp_offboard_port_local=$((14580+px4_instance)) |
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udp_offboard_port_remote=$((14540+px4_instance)) |
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udp_gcs_port_local=$((14570+px4_instance)) |
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if [ $AUTOCNF = yes ] |
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then |
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param set SYS_AUTOSTART $REQUESTED_AUTOSTART |
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param set BAT_N_CELLS 3 |
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param set CAL_ACC0_ID 1376264 |
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param set CAL_ACC1_ID 1310728 |
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param set CAL_ACC_PRIME 1376264 |
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param set CAL_GYRO0_ID 2293768 |
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param set CAL_GYRO_PRIME 2293768 |
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param set CAL_MAG0_ID 196616 |
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param set CAL_MAG_PRIME 196616 |
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param set CBRK_AIRSPD_CHK 0 |
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param set COM_DISARM_LAND 0.1 |
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param set COM_OBL_ACT 2 |
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param set COM_OBL_RC_ACT 0 |
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param set COM_OF_LOSS_T 5 |
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param set COM_RC_IN_MODE 1 |
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param set EKF2_AID_MASK 1 |
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param set EKF2_ANGERR_INIT 0.01 |
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param set EKF2_HGT_MODE 0 |
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param set EKF2_GBIAS_INIT 0.01 |
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param set EKF2_MAG_TYPE 1 |
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# LPE: GPS only mode |
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param set LPE_FUSION 145 |
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param set MIS_TAKEOFF_ALT 2.5 |
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param set MC_PITCH_P 6 |
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param set MC_PITCHRATE_P 0.2 |
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param set MC_ROLL_P 6 |
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param set MC_ROLLRATE_P 0.2 |
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param set MPC_ALT_MODE 0 |
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param set MPC_HOLD_MAX_Z 2 |
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param set MPC_Z_VEL_I 0.15 |
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param set MPC_Z_VEL_P 0.6 |
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param set MPC_XY_P 0.8 |
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param set MPC_XY_VEL_P 0.2 |
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param set MPC_XY_VEL_I 0.02 |
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param set MPC_XY_VEL_D 0.016 |
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param set MPC_JERK_MIN 10 |
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param set MPC_JERK_MAX 20 |
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param set MPC_ACC_HOR_MAX 3 |
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param set NAV_ACC_RAD 2 |
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param set NAV_DLL_ACT 2 |
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param set RTL_DESCEND_ALT 5 |
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param set RTL_LAND_DELAY 5 |
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param set RTL_RETURN_ALT 30 |
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# enable default, estimator replay and vision/avoidance logging profiles |
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param set SDLOG_PROFILE 131 |
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param set SDLOG_DIRS_MAX 7 |
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param set SENS_BOARD_ROT 0 |
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param set SENS_BOARD_X_OFF 0.000001 |
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param set SENS_DPRES_OFF 0.001 |
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param set SYS_RESTART_TYPE 2 |
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param set WEST_EN 0 |
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fi |
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# Autostart ID |
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autostart_file='' |
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for f in etc/init.d-posix/"$(param show -q SYS_AUTOSTART)"_* |
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do |
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filename=$(basename "$f") |
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case "$filename" in |
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*\.*) |
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# ignore files that contain a dot (e.g. <vehicle>.post) |
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;; |
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*) |
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autostart_file="$f" |
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;; |
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esac |
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done |
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if [ ! -e "$autostart_file" ]; then |
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echo "Error: no autostart file found ($autostart_file)" |
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exit -1 |
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fi |
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sh "$autostart_file" |
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dataman start |
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replay tryapplyparams |
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simulator start -s -u $simulator_udp_port |
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tone_alarm start |
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gyrosim start |
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accelsim start |
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barosim start |
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gpssim start |
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sensors start |
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commander start |
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navigator start |
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if param compare WEST_EN 1 |
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then |
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wind_estimator start |
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fi |
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if ! param compare MNT_MODE_IN -1 |
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then |
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vmount start |
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fi |
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if param greater TRIG_MODE 0 |
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then |
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camera_trigger start |
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param set CAM_FBACK_MODE 1 |
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camera_feedback start |
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fi |
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if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ] |
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then |
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if param compare CBRK_AIRSPD_CHK 0 |
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then |
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measairspeedsim start |
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fi |
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fi |
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# Configure vehicle type specific parameters. |
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# Note: rc.vehicle_setup is the entry point for rc.interface, |
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# rc.fw_apps, rc.mc_apps, rc.ugv_apps, and rc.vtol_apps. |
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# |
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sh etc/init.d/rc.vehicle_setup |
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# GCS link |
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mavlink start -x -u $udp_gcs_port_local -r 4000000 |
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mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local |
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mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local |
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mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local |
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mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local |
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mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local |
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mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local |
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mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local |
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mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local |
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mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local |
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# API/Offboard link |
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mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote |
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# execute autostart post script if any |
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[ -e "$autostart_file".post ] && sh "$autostart_file".post |
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logger start -e -t -b 1000 |
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mavlink boot_complete |
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replay trystart
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