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68 lines
1.1 KiB
68 lines
1.1 KiB
#!nsh |
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# |
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# USB HIL start |
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# |
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echo "[HIL] starting.." |
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uorb start |
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# Tell MAVLink that this link is "fast" |
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mavlink start -b 230400 -d /dev/console |
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# Create a fake HIL /dev/pwm_output interface |
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hil mode_pwm |
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# |
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# Load microSD params |
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# |
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echo "[init] loading microSD params" |
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param select /fs/microsd/parameters |
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if [ -f /fs/microsd/parameters ] |
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then |
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param load /fs/microsd/parameters |
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fi |
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# |
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# Force some key parameters to sane values |
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# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor |
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# see https://pixhawk.ethz.ch/mavlink/ |
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# |
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param set MAV_TYPE 1 |
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# |
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# Start the commander (depends on orb, mavlink) |
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# |
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commander start |
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# |
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# Check if we got an IO |
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# |
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if [ px4io start ] |
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then |
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echo "IO started" |
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else |
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fmu mode_serial |
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echo "FMU started" |
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end |
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# |
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# Start the sensors (depends on orb, px4io) |
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# |
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sh /etc/init.d/rc.sensors |
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# |
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# Start the attitude estimator (depends on orb) |
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# |
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kalman_demo start |
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# |
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# Load mixer and start controllers (depends on px4io) |
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# |
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mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix |
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control_demo start |
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echo "[HIL] setup done, running" |
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# Exit shell to make it available to MAVLink |
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exit
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