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52 lines
1.0 KiB
52 lines
1.0 KiB
#!/bin/bash |
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sitl_num=2 |
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sim_port=15019 |
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mav_port=15010 |
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mav_port2=15011 |
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mav_oport=15015 |
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mav_oport2=15016 |
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port_step=10 |
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src_path=`pwd` |
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rc_script="posix-configs/SITL/init/rcS_multiple" |
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build_path=${src_path}/build_posix_sitl_default |
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pkill px4 |
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sleep 2 |
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cd $build_path/src/firmware/posix |
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user=`whoami` |
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n=1 |
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while [ $n -le $sitl_num ]; do |
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if [ ! -d $n ]; then |
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mkdir -p $n |
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cd $n |
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mkdir -p rootfs/fs/microsd |
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mkdir -p rootfs/eeprom |
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touch rootfs/eeprom/parameters |
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cp ${src_path}/ROMFS/px4fmu_common/mixers/quad_w.main.mix ./ |
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cat ${src_path}/${rc_script}_gazebo_iris | sed s/_SIMPORT_/${sim_port}/ | sed s/_MAVPORT_/${mav_port}/g | sed s/_MAVOPORT_/${mav_oport}/ | sed s/_MAVPORT2_/${mav_port2}/ | sed s/_MAVOPORT2_/${mav_oport2}/ > rcS |
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cd ../ |
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fi |
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cd $n |
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sudo -b -u $user ../px4 -d rcS >out.log 2>err.log |
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cd ../ |
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n=$(($n + 1)) |
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sim_port=$(($sim_port + $port_step)) |
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mav_port=$(($mav_port + $port_step)) |
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mav_port2=$(($mav_port2 + $port_step)) |
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mav_oport=$(($mav_oport + $port_step)) |
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mav_oport2=$(($mav_oport2 + $port_step)) |
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done
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