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.
61 lines
1.4 KiB
61 lines
1.4 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 |
|
param select /home/root/parameters |
|
if [ -f /home/root/parameters ] |
|
then |
|
param load |
|
fi |
|
param set SYS_AUTOSTART 4013 |
|
param set MAV_BROADCAST 1 |
|
param set MAV_TYPE 2 |
|
|
|
param set MPC_XY_VEL_P 0.12 |
|
param set MPC_XY_P 1.3 |
|
param set MPC_XY_VEL_D 0.006 |
|
param set MPC_XY_VEL_I 0.05 |
|
param set MPC_XY_VEL_MAX 12 |
|
|
|
param set MPC_Z_VEL_P 0.3 |
|
param set MPC_Z_VEL_I 0.1 |
|
|
|
param set MC_YAW_P 3.0 |
|
param set MC_YAWRATE_P 0.05 |
|
param set MC_YAWRATE_I 3.0 |
|
|
|
param set MC_ROLLRATE_P 0.05 |
|
param set MC_ROLLRATE_I 0.5 |
|
param set MC_ROLLRATE_D 0.0 |
|
param set MC_RR_INT_LIM 0.3 |
|
|
|
param set MC_PITCHRATE_P 0.1 |
|
param set MC_PITCHRATE_I 0.8 |
|
param set MC_PITCHRATE_D 0.0 |
|
param set MC_PR_INT_LIM 0.3 |
|
|
|
df_ms5607_wrapper start |
|
df_mpu6050_wrapper start -R 8 |
|
df_ak8963_wrapper start -R 32 |
|
# Rangefinder disabled for now. It was found to cause delays of more than 10ms |
|
#df_bebop_rangefinder_wrapper start |
|
gps start -d /dev/ttyPA1 |
|
bebop_flow start |
|
sensors start |
|
commander start |
|
ekf2 start |
|
dataman start |
|
navigator start |
|
land_detector start multicopter |
|
mc_pos_control start |
|
mc_att_control start |
|
sleep 1 |
|
mavlink start -x -u 14556 -r 20000 |
|
sleep 1 |
|
mavlink stream -u 14556 -s HIGHRES_IMU -r 50 |
|
mavlink stream -u 14556 -s ATTITUDE -r 50 |
|
df_bebop_bus_wrapper start |
|
mavlink boot_complete |
|
logger start -b 200 -e -t
|
|
|