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43 lines
1.1 KiB
43 lines
1.1 KiB
#!/bin/bash |
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# assume we start the script from the root directory |
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ROOTDIR=$PWD |
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ROVER=$ROOTDIR/build/sitl/bin/ardurover |
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GCS_IP=192.168.2.48 |
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BASE_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/rover.parm,$ROOTDIR/Tools/autotest/default_params/rover-skid.parm" |
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# start up main rover in the current directory |
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$ROVER --model morse-skid --uartA udpclient:$GCS_IP --uartC mcast: --defaults $BASE_DEFAULTS & |
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# now start 2 rovers to follow the first, using |
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# a separate directory for each to keep the eeprom.bin |
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# and logs separate |
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for i in $(seq 2); do |
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echo "Starting rover $i" |
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port1=$(expr 60000 + $i \* 2) |
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port2=$(expr 60001 + $i \* 2) |
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mkdir -p rov$i |
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SYSID=$(expr $i + 1) |
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FOLL_SYSID=$(expr $SYSID - 1) |
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# create default parameter file for the follower |
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cat <<EOF > rov$i/follow.parm |
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SYSID_THISMAV $SYSID |
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SERVO1_FUNCTION 73 |
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SERVO3_FUNCTION 74 |
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INITIAL_MODE 6 |
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MODE6 6 |
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FOLL_ENABLE 1 |
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FOLL_OFS_X -5 |
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FOLL_OFS_TYPE 1 |
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FOLL_SYSID $FOLL_SYSID |
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FOLL_DIST_MAX 1000 |
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EOF |
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pushd rov$i |
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$ROVER --model "morse-skid:127.0.0.1:$port1:$port2" --uartA tcp:0 --uartC mcast: --instance $i --defaults $BASE_DEFAULTS,follow.parm & |
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popd |
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done |
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wait
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