posix-configs/SITL/init/ekf2/hippocampus

#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh

uorb start
param load
param set CAL_GYRO0_ID 2293768
param set CAL_ACC0_ID 1376264
param set CAL_ACC1_ID 1310728
param set CAL_MAG0_ID 196616
param set COM_DISARM_LAND 0
param set MAV_TYPE 3
param set SDLOG_DIRS_MAX 7
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
dataman start

simulator start -s

pwm_out_sim start
mixer load /dev/pwm_output0 etc/mixers/uuv_quad_x.mix

gyrosim start
accelsim start
barosim start
gpssim start

sleep 1

sensors start
commander start
ekf2 start

mavlink start -u 14556 -r 4000000
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556

logger start -r 100 -e
mavlink boot_complete
posix shell: lots of cleanup and fixes - move posix-configs/SITL/init/{rcS,10016_iris,6011_typhoon_h480} to ROMFS/px4fmu_common/init.d-posix allows for easier unification, only one symlink is required. - rcS: add AUTOCNF support. Update scripts to match with behavior of PX4 master (parameter values, some sitl driver got removed) - add alias to allow 'set variable value' syntax in scripts to px4-alias.sh - use px4_getopt - use separate argument for the test_data directory - append PATH from within the px4 binary: this simplifies the usage w/o the sitl_run.sh script. - add 'source px4-alias.sh' to all existing sitl startup scripts - move sitl mixers to ROMFS/px4fmu_common/mixers-sitl makes it easier to use existing mixers and sitl-specific ones. - remove unused rcS_gazebo_delta_wing 2018-08-04 12:01:12 +02:00			`#!/usr/bin/bash`
			`# PX4 commands need the 'px4-' prefix in bash.`
			`# (px4-alias.sh is expected to be in the PATH)`
			`source px4-alias.sh`

Enable Simulation of the Hippocampus (AUV from TUHH) Adding files which enable a simulation with the autonomous underwater vehicle (AUV) from the Technical University Hamburg-Harburg 2017-08-11 13:36:44 +02:00			`uorb start`
			`param load`
			`param set CAL_GYRO0_ID 2293768`
			`param set CAL_ACC0_ID 1376264`
			`param set CAL_ACC1_ID 1310728`
			`param set CAL_MAG0_ID 196616`
SITL configs: set SDLOG_DIRS_MAX to 7 Avoids ending up with huge log directories. plus some param alphabetic reordering 2018-01-16 15:06:32 +01:00			`param set COM_DISARM_LAND 0`
			`param set MAV_TYPE 3`
			`param set SDLOG_DIRS_MAX 7`
			`param set SYS_AUTOSTART 4010`
			`param set SYS_RESTART_TYPE 2`
			`dataman start`
Enable Simulation of the Hippocampus (AUV from TUHH) Adding files which enable a simulation with the autonomous underwater vehicle (AUV) from the Technical University Hamburg-Harburg 2017-08-11 13:36:44 +02:00
			`simulator start -s`

pwm_out_sim cleanup - move to ModuleBase - strip down to PWM 8 and 16 modes only - remove all dead code - implement missing pwm ioctls (current value, rates, etc) - default rate 50Hz -> 400Hz 2018-03-04 11:00:40 -05:00			`pwm_out_sim start`
posix shell: lots of cleanup and fixes - move posix-configs/SITL/init/{rcS,10016_iris,6011_typhoon_h480} to ROMFS/px4fmu_common/init.d-posix allows for easier unification, only one symlink is required. - rcS: add AUTOCNF support. Update scripts to match with behavior of PX4 master (parameter values, some sitl driver got removed) - add alias to allow 'set variable value' syntax in scripts to px4-alias.sh - use px4_getopt - use separate argument for the test_data directory - append PATH from within the px4 binary: this simplifies the usage w/o the sitl_run.sh script. - add 'source px4-alias.sh' to all existing sitl startup scripts - move sitl mixers to ROMFS/px4fmu_common/mixers-sitl makes it easier to use existing mixers and sitl-specific ones. - remove unused rcS_gazebo_delta_wing 2018-08-04 12:01:12 +02:00			`mixer load /dev/pwm_output0 etc/mixers/uuv_quad_x.mix`
Enable Simulation of the Hippocampus (AUV from TUHH) Adding files which enable a simulation with the autonomous underwater vehicle (AUV) from the Technical University Hamburg-Harburg 2017-08-11 13:36:44 +02:00
			`gyrosim start`
			`accelsim start`
			`barosim start`
Change start up script Now the start up script starts a GPS simulator as well as the ekf in order to estimate position and orientation 2017-09-01 15:35:11 +02:00			`gpssim start`
Enable Simulation of the Hippocampus (AUV from TUHH) Adding files which enable a simulation with the autonomous underwater vehicle (AUV) from the Technical University Hamburg-Harburg 2017-08-11 13:36:44 +02:00
			`sleep 1`

			`sensors start`
			`commander start`
Change start up script Now the start up script starts a GPS simulator as well as the ekf in order to estimate position and orientation 2017-09-01 15:35:11 +02:00			`ekf2 start`
Enable Simulation of the Hippocampus (AUV from TUHH) Adding files which enable a simulation with the autonomous underwater vehicle (AUV) from the Technical University Hamburg-Harburg 2017-08-11 13:36:44 +02:00
			`mavlink start -u 14556 -r 4000000`
			`mavlink start -u 14557 -r 4000000 -m onboard -o 14540`
			`mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556`
			`mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556`
Change start up script Now the start up script starts a GPS simulator as well as the ekf in order to estimate position and orientation 2017-09-01 15:35:11 +02:00
Enable Simulation of the Hippocampus (AUV from TUHH) Adding files which enable a simulation with the autonomous underwater vehicle (AUV) from the Technical University Hamburg-Harburg 2017-08-11 13:36:44 +02:00			`logger start -r 100 -e`
			`mavlink boot_complete`