diff --git a/cmake/configs/posix_rpi_common.cmake b/cmake/configs/posix_rpi_common.cmake index ffcb1633c9..74eb21db13 100644 --- a/cmake/configs/posix_rpi_common.cmake +++ b/cmake/configs/posix_rpi_common.cmake @@ -75,6 +75,7 @@ set(config_module_list drivers/navio_sysfs_pwm_out drivers/navio_gpio drivers/navio_rgbled + drivers/pwm_out_sim # # Libraries diff --git a/posix-configs/rpi/px4_hil.config b/posix-configs/rpi/px4_hil.config new file mode 100644 index 0000000000..db6da6f037 --- /dev/null +++ b/posix-configs/rpi/px4_hil.config @@ -0,0 +1,24 @@ +# HITL configuration +# connect to it with jMAVSim: +# ./Tools/jmavsim_run.sh -q -i -p 14577 -r 250 + +uorb start +param load +param set SYS_AUTOSTART 1001 +param set MAV_BROADCAST 1 +param set MAV_TYPE 2 +param set SYS_MC_EST_GROUP 0 +sensors start -hil +commander start -hil +navigator start +ekf2 start +land_detector start multicopter +mc_pos_control start +mc_att_control start +mavlink start -u 14577 -r 1000000 +navio_sysfs_rc_in start +pwm_out_sim mode_pwm16 +mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix +logger start -t +mavlink boot_complete +