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41 lines
1.9 KiB
41 lines
1.9 KiB
#!/bin/sh |
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# shellcheck disable=SC2154 |
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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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[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps |
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udp_onboard_payload_port_local=$((14280+px4_instance)) |
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udp_onboard_payload_port_remote=$((14030+px4_instance)) |
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udp_onboard_gimbal_port_local=$((13030+px4_instance)) |
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udp_onboard_gimbal_port_remote=$((13280+px4_instance)) |
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udp_gcs_port_local=$((18570+px4_instance)) |
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# GCS link |
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mavlink start -x -u $udp_gcs_port_local -r 4000000 -f |
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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 -f -m onboard -o $udp_offboard_port_remote |
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# Onboard link to camera |
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mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote |
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# Onboard link to gimbal |
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mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote |
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# To display for SIH sitl |
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if [ "$SIM_MODE" = "sihsim" ]; then |
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udp_sihsim_port_local=$((19450+px4_instance)) |
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udp_sihsim_port_remote=$((19410+px4_instance)) |
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mavlink start -x -u $udp_sihsim_port_local -r 400000 -m custom -o $udp_sihsim_port_remote |
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mavlink stream -r 200 -s HIL_ACTUATOR_CONTROLS -u $udp_sihsim_port_local |
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mavlink stream -r 25 -s HIL_STATE_QUATERNION -u $udp_sihsim_port_local |
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fi
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