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71 lines
1.2 KiB
71 lines
1.2 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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. px4-alias.sh |
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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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param set CBRK_SUPPLY_CHK 894281 |
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#param set SYS_AUTOSTART 4001 |
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param set MAV_BROADCAST 1 |
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param set MAV_TYPE 2 |
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# Multi-EKF |
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param set EKF2_MULTI_IMU 2 |
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param set SENS_IMU_MODE 0 |
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param set EKF2_MULTI_MAG 3 |
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param set SENS_MAG_MODE 0 |
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dataman start |
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load_mon start |
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battery_status start |
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# internal IMU |
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if ! icm42688p start -s -R 4 |
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then |
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# some boards has ICM42605 inside |
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icm42605 start -s -R 4 |
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fi |
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ist8310 start -I -a 15 -R 4 |
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ms5611 start -I |
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# ADC |
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ads1115 start -I |
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# PWM |
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pca9685_pwm_out start |
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mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix |
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# external GPS & compass |
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gps start -d /dev/ttySC0 -i uart -p ubx -s |
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#hmc5883 start -X |
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#ist8310 start -X |
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rc_input start -d /dev/ttyAMA0 |
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rc_update start |
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sensors start |
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commander start |
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navigator start |
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ekf2 start |
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land_detector start multicopter |
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mc_hover_thrust_estimator start |
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flight_mode_manager start |
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mc_pos_control start |
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mc_att_control start |
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mc_rate_control start |
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mavlink start -x -u 14556 -r 1000000 |
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# Telem |
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mavlink start -x -Z -d /dev/ttySC1 |
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logger start -t -b 200 |
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mavlink boot_complete
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