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SITL: move all models to unified rcS startup and remove old scripts

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This commit is contained in:
Beat Küng
2018-08-11 18:02:12 +02:00
committed by Daniel Agar
parent 5ebd0116de
commit 273988c124
51 changed files with 391 additions and 2442 deletions
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47
ROMFS/px4fmu_common/init.d-posix/rcS
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@@ -4,8 +4,9 @@
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
#
# Main SITL startup script
#
# check for ekf2 replay
if [ "$replay_mode" == "ekf2" ]
@@ -21,6 +22,7 @@ set LOG_FILE bootlog.txt
set MAV_TYPE none
set MIXER none
set MIXER_AUX none
set MIXER_FILE none
set OUTPUT_MODE sim
set PWM_OUT none
set SDCARD_MIXERS_PATH etc/mixers
@@ -34,6 +36,28 @@ if [ "$PX4_SIM_MODEL" == "shell" ]; then
set RUN_MINIMAL_SHELL yes
elif [ "$PX4_SIM_MODEL" == "iris" ]; then
set REQUESTED_AUTOSTART 10016
elif [ "$PX4_SIM_MODEL" == "iris_opt_flow" ]; then
set REQUESTED_AUTOSTART 1010
elif [ "$PX4_SIM_MODEL" == "iris_irlock" ]; then
set REQUESTED_AUTOSTART 1011
elif [ "$PX4_SIM_MODEL" == "iris_rplidar" ]; then
set REQUESTED_AUTOSTART 1012
elif [ "$PX4_SIM_MODEL" == "iris_vision" ]; then
set REQUESTED_AUTOSTART 1013
elif [ "$PX4_SIM_MODEL" == "solo" ]; then
set REQUESTED_AUTOSTART 1014
elif [ "$PX4_SIM_MODEL" == "hippocampus" ]; then
set REQUESTED_AUTOSTART 1020
elif [ "$PX4_SIM_MODEL" == "plane" ]; then
set REQUESTED_AUTOSTART 1030
elif [ "$PX4_SIM_MODEL" == "standard_vtol" ]; then
set REQUESTED_AUTOSTART 1040
elif [ "$PX4_SIM_MODEL" == "tailsitter" ]; then
set REQUESTED_AUTOSTART 1041
elif [ "$PX4_SIM_MODEL" == "tiltrotor" ]; then
set REQUESTED_AUTOSTART 1042
elif [ "$PX4_SIM_MODEL" == "rover" ]; then
set REQUESTED_AUTOSTART 1060
elif [ "$PX4_SIM_MODEL" == "typhoon_h480" ]; then
set REQUESTED_AUTOSTART 6011
else
@@ -96,6 +120,8 @@ then
param set CAL_GYRO0_XOFF 0.01
param set CAL_MAG0_ID 196616
param set CAL_MAG0_XOFF 0.01
param set SENS_DPRES_OFF 0.001
param set CBRK_AIRSPD_CHK 0
param set COM_DISARM_LAND 3
param set COM_OBL_ACT 2
@@ -114,6 +140,7 @@ then
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.2
param set MIS_TAKEOFF_ALT 2.5
param set MPC_ALT_MODE 0
param set MPC_HOLD_MAX_Z 2.0
param set MPC_Z_VEL_I 0.15
param set MPC_Z_VEL_P 0.6
@@ -127,6 +154,11 @@ then
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set SYS_RESTART_TYPE 2
# LPE: GPS only mode
param set LPE_FUSION 145
param set WEST_EN 0
fi
# Autostart ID
@@ -153,6 +185,10 @@ sensors start
commander start
navigator start
if param compare WEST_EN 1
then
wind_estimator start
fi
if ! param compare MNT_MODE_IN -1
then
@@ -166,6 +202,15 @@ then
camera_feedback start
fi
if [ ${VEHICLE_TYPE} == fw -o ${VEHICLE_TYPE} == vtol ]
then
if param compare CBRK_AIRSPD_CHK 0
then
measairspeedsim start
fi
fi
# Configure vehicle type specific parameters.
# Note: rc.vehicle_setup is the entry point for rc.interface,
# rc.fw_apps, rc.mc_apps, rc.ugv_apps, and rc.vtol_apps.