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Improvements to SITL to make paths more flexible. (#5181)

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This commit is contained in:
James Goppert
2016-08-05 06:23:59 -04:00
committed by GitHub
parent bc7178c538
commit 699b6a2cb3
72 changed files with 642 additions and 671 deletions
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2
posix-configs/SITL/README.md
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@@ -105,5 +105,5 @@ param set RC_MAP_POSCTL_SW 7
param set RC_MAP_RETURN_SW 8
param set MC_PITCHRATE_P 0.05
param set MC_ROLLRATE_P 0.05
mixer load /dev/pwm_output0 ../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
```

2
posix-configs/SITL/init/rcS_gazebo_iris
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@@ -60,7 +60,7 @@ navigator start
ekf2 start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_w.main.mix
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
mavlink start -u 14556 -r 4000000
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

2
posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
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@@ -59,7 +59,7 @@ attitude_estimator_q start
position_estimator_inav start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_w.main.mix
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556

2
posix-configs/SITL/init/rcS_gazebo_plane
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@@ -47,7 +47,7 @@ ekf2 start
fw_pos_control_l1 start
fw_att_control start
land_detector start fixedwing
mixer load /dev/pwm_output0 ../../../../ROMFS/sitl/mixers/plane_sitl.main.mix
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/plane_sitl.main.mix
mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556

2
posix-configs/SITL/init/rcS_gazebo_solo
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@@ -57,7 +57,7 @@ navigator start
ekf2 start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
mavlink start -u 14556 -r 4000000
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

2
posix-configs/SITL/init/rcS_gazebo_standard_vtol
View File

@@ -69,7 +69,7 @@ mc_pos_control start
mc_att_control start
fw_pos_control_l1 start
fw_att_control start
mixer load /dev/pwm_output0 ../../../../ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556

2
posix-configs/SITL/init/rcS_gazebo_tailsitter
View File

@@ -60,7 +60,7 @@ mc_pos_control start
mc_att_control start
fw_pos_control_l1 start
fw_att_control start
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556

2
posix-configs/SITL/init/rcS_gazebo_typhoon_h480
View File

@@ -59,7 +59,7 @@ navigator start
ekf2 start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/hexa_x.main.mix
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix
mavlink start -u 14556 -r 4000000
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

2
posix-configs/SITL/init/rcS_jmavsim_iris
View File

@@ -61,7 +61,7 @@ navigator start
ekf2 start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556

2
posix-configs/SITL/init/rcS_lpe_gazebo_iris
View File

@@ -60,7 +60,7 @@ attitude_estimator_q start
local_position_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 /usr/share/px4/ROMFS/px4fmu_common/mixers/quad_w.main.mix
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
mavlink start -u 14556 -r 4000000
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

2
posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow
View File

@@ -69,7 +69,7 @@ attitude_estimator_q start
local_position_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 /usr/share/px4/ROMFS/px4fmu_common/mixers/quad_w.main.mix
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556

2
posix-configs/SITL/init/rcS_lpe_jmavsim_iris
View File

@@ -61,7 +61,7 @@ attitude_estimator_q start
local_position_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 /usr/share/px4/ROMFS/px4fmu_common/mixers/quad_x.main.mix
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556

0
posix-configs/SITL/init/rcS_tests → posix-configs/SITL/init/rcS_tests_none_iris
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2
posix-configs/SITL/init/rc_iris_ros
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@@ -60,7 +60,7 @@ attitude_estimator_q start
position_estimator_inav start
mc_pos_control_m start
mc_att_control_m start
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
mavlink start -u 14556 -r 2000000
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556