yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 01:12:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

posix: start the microRTPS client in sim every time the module is available

Browse Source
This commit is contained in:
TSC21
2021-05-02 15:13:44 +02:00
committed by Nuno Marques
parent 773d81f208
commit 145e7387fb
6 changed files with 8 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps
View File

@@ -1,8 +0,0 @@
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (RTPS)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10016_iris

4
ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps.post
View File

@@ -1,4 +0,0 @@
#!/bin/sh
# shellcheck disable=SC2154
micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))

2
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
View File

@@ -46,8 +46,6 @@ px4_add_romfs_files(
1014_solo
1015_iris_obs_avoid
1015_iris_obs_avoid.post
1016_iris_rtps
1016_iris_rtps.post
1017_iris_opt_flow_mockup
1018_iris_vision_velocity
1019_iris_dual_gps

6
ROMFS/px4fmu_common/init.d-posix/rcS
View File

@@ -225,6 +225,12 @@ sensors start
commander start
navigator start
# Try to start the micrortps_client with UDP transport if module exists
if px4-micrortps_client status > /dev/null 2>&1
then
# shellcheck disable=SC2154
micrortps_client start -t UDP $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
fi
if param greater -s MNT_MODE_IN -1
then