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posix shell: lots of cleanup and fixes

Browse Source 
- 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
This commit is contained in:
Beat Küng
2018-08-04 12:01:12 +02:00
committed by Lorenz Meier
parent 413c09e20e
commit 7822e5b5c3
58 changed files with 472 additions and 371 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
posix-configs/SITL/init/10016_iris
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@@ -1,11 +0,0 @@
#!nsh
#
# @name 3DR Iris Quadrotor SITL
#
# @type Quadrotor Wide
#
# @maintainer Anton Babushkin <julian@oes.ch>
#
pwm_out_sim mode_pwm
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix

15
posix-configs/SITL/init/6011_typhoon_h480
View File

@@ -1,15 +0,0 @@
#!nsh
#
# @name Typhoon H480 SITL
#
# @type Hexarotor x
#
# @maintainer empty@empty.com
#
param set MAV_TYPE 13
pwm_out_sim mode_pwm16
mixer load /dev/pwm_output0 etc/mixers/hexa_x.main.mix
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
vmount start

59
posix-configs/SITL/init/CMakeLists.txt
View File

@@ -1,59 +0,0 @@
############################################################################
#
# Copyright (c) 2016 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
set(posix_init_file_names
rcS
rcS_tests
6011_typhoon_h480
10016_iris
)
# Get absolute paths
set(posix_init_files)
foreach(posix_file ${posix_init_file_names})
list(APPEND posix_init_files ${CMAKE_CURRENT_SOURCE_DIR}/${posix_file})
endforeach()
set(init_directory ${ROOTFS_DIRECTORY}/etc/init)
add_custom_target(posix_init_dir
COMMAND ${CMAKE_COMMAND} -E make_directory ${init_directory}
)
# cmake -E copy with version < 3.5 does not support copying multiple files yet, therefore use cp.
add_custom_target(posix_init
COMMAND cp ${posix_init_files} ${init_directory}
DEPENDS posix_init_dir
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

7
posix-configs/SITL/init/ekf2/hippocampus
View File

@@ -1,3 +1,8 @@
#!/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
@@ -14,7 +19,7 @@ dataman start
simulator start -s
pwm_out_sim start
mixer load /dev/pwm_output0 ROMFS/px4fmu_test/mixers/uuv_quad_x.mix
mixer load /dev/pwm_output0 etc/mixers/uuv_quad_x.mix
gyrosim start
accelsim start

7
posix-configs/SITL/init/ekf2/iris
View File

@@ -1,3 +1,8 @@
#!/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
dataman start
@@ -60,7 +65,7 @@ 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 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/ekf2/iris_1
View File

@@ -1,3 +1,8 @@
#!/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
dataman start
@@ -62,7 +67,7 @@ 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 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/ekf2/iris_2
View File

@@ -1,3 +1,8 @@
#!/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
dataman start
@@ -62,7 +67,7 @@ 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 etc/mixers/quad_w.main.mix
mavlink start -x -u 14558 -r 4000000
mavlink start -x -u 14559 -r 4000000 -m onboard -o 14541
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14558

7
posix-configs/SITL/init/ekf2/iris_irlock
View File

@@ -1,3 +1,8 @@
#!/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
dataman start
@@ -62,7 +67,7 @@ ekf2 start
landing_target_estimator 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 etc/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

7
posix-configs/SITL/init/ekf2/iris_opt_flow
View File

@@ -1,3 +1,8 @@
#!/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 MAV_TYPE 2
@@ -64,7 +69,7 @@ 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 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

5
posix-configs/SITL/init/ekf2/iris_replay
View File

@@ -1,3 +1,8 @@
#!/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 set SDLOG_DIRS_MAX 7

7
posix-configs/SITL/init/ekf2/iris_rplidar
View File

@@ -1,3 +1,8 @@
#!/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
dataman start
@@ -60,7 +65,7 @@ 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 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/ekf2/iris_vision
View File

@@ -1,3 +1,8 @@
#!/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 MAV_TYPE 2
@@ -63,7 +68,7 @@ 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 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/ekf2/multiple_iris
View File

@@ -1,3 +1,8 @@
#!/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
dataman start
@@ -60,7 +65,7 @@ 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 etc/mixers/quad_w.main.mix
mavlink start -x -u _MAVPORT_ -r 4000000 -o _MAVOPORT_
mavlink start -x -u _MAVPORT2_ -r 4000000 -m onboard -o _MAVOPORT2_
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u _MAVPORT_

7
posix-configs/SITL/init/ekf2/plane
View File

@@ -1,3 +1,8 @@
#!/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
dataman start
@@ -84,7 +89,7 @@ fw_pos_control_l1 start
fw_att_control start
land_detector start fixedwing
wind_estimator start
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/plane_sitl.main.mix
mixer load /dev/pwm_output0 etc/mixers-sitl/plane_sitl.main.mix
mavlink start -x -u 14556 -r 2000000
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/ekf2/rover
View File

@@ -1,3 +1,8 @@
#!/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
dataman start
@@ -65,7 +70,7 @@ navigator start
ekf2 start
gnd_pos_control start
gnd_att_control start
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/rover_sitl.main.mix
mixer load /dev/pwm_output0 etc/mixers-sitl/rover_sitl.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/ekf2/solo
View File

@@ -1,3 +1,8 @@
#!/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
dataman start
@@ -57,7 +62,7 @@ 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 etc/mixers/quad_x.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/ekf2/standard_vtol
View File

@@ -1,3 +1,8 @@
#!/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
dataman start
@@ -80,7 +85,7 @@ mc_att_control start
fw_pos_control_l1 start
fw_att_control start
wind_estimator start
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
mixer load /dev/pwm_output0 etc/mixers-sitl/standard_vtol_sitl.main.mix
mavlink start -x -u 14556 -r 2000000 -f
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 -f
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14557

7
posix-configs/SITL/init/ekf2/tailsitter
View File

@@ -1,3 +1,8 @@
#!/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
dataman start
@@ -63,7 +68,7 @@ mc_att_control start
fw_pos_control_l1 start
fw_att_control start
wind_estimator start
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/quad_x_vtol.main.mix
mixer load /dev/pwm_output0 etc/mixers-sitl/quad_x_vtol.main.mix
mavlink start -x -u 14556 -r 2000000
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/ekf2/tiltrotor
View File

@@ -1,3 +1,8 @@
#!/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
dataman start
@@ -97,7 +102,7 @@ mc_att_control start
fw_pos_control_l1 start
fw_att_control start
wind_estimator start
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/tiltrotor_sitl.main.mix
mixer load /dev/pwm_output0 etc/mixers-sitl/tiltrotor_sitl.main.mix
mavlink start -x -u 14556 -r 2000000 -f
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 -f
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14557

9
posix-configs/SITL/init/ekf2/typhoon_h480
View File

@@ -1,3 +1,8 @@
#!/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
dataman start
@@ -63,8 +68,8 @@ 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 append /dev/pwm_output0 ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
mixer load /dev/pwm_output0 etc/mixers/hexa_x.main.mix
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530

7
posix-configs/SITL/init/inav/iris
View File

@@ -1,3 +1,8 @@
#!/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 MAV_TYPE 2
@@ -59,7 +64,7 @@ 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_x.main.mix
mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix
mavlink start -x -u 14556 -r 2000000
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556

7
posix-configs/SITL/init/inav/iris_opt_flow
View File

@@ -1,3 +1,8 @@
#!/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 MAV_TYPE 2
@@ -61,7 +66,7 @@ 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 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 2000000
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/lpe/hippocampus
View File

@@ -1,3 +1,8 @@
#!/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
@@ -14,7 +19,7 @@ dataman start
simulator start -s
pwm_out_sim start
mixer load /dev/pwm_output0 ROMFS/px4fmu_test/mixers/uuv_quad_x.mix
mixer load /dev/pwm_output0 etc/mixers/uuv_quad_x.mix
gyrosim start
accelsim start

7
posix-configs/SITL/init/lpe/iris
View File

@@ -1,3 +1,8 @@
#!/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 MAV_TYPE 2
@@ -61,7 +66,7 @@ attitude_estimator_q start
local_position_estimator 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 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/lpe/iris_1
View File

@@ -1,3 +1,8 @@
#!/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 MAV_SYS_ID 1
@@ -63,7 +68,7 @@ attitude_estimator_q start
local_position_estimator 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 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/lpe/iris_2
View File

@@ -1,3 +1,8 @@
#!/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 MAV_SYS_ID 2
@@ -63,7 +68,7 @@ attitude_estimator_q start
local_position_estimator 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 etc/mixers/quad_w.main.mix
mavlink start -x -u 14558 -r 4000000
mavlink start -x -u 14559 -r 4000000 -m onboard -o 14541
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14558

7
posix-configs/SITL/init/lpe/iris_irlock
View File

@@ -1,3 +1,8 @@
#!/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 MAV_TYPE 2
@@ -70,7 +75,7 @@ local_position_estimator start
landing_target_estimator 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 etc/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

7
posix-configs/SITL/init/lpe/iris_opt_flow
View File

@@ -1,3 +1,8 @@
#!/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 MAV_TYPE 2
@@ -79,7 +84,7 @@ attitude_estimator_q start
local_position_estimator 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 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 2000000
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556

8
posix-configs/SITL/init/lpe/iris_rplidar
View File

@@ -1,3 +1,8 @@
#!/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 MAV_TYPE 2
@@ -37,7 +42,6 @@ param set MC_PITCHRATE_P 0.2
param set MC_PITCH_P 6
param set MC_ROLL_P 6
param set MPC_HOLD_MAX_Z 2.0
param set MPC_HOLD_XY_DZ 0.1
param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_I 0.15
param set LPE_FUSION 242
@@ -61,7 +65,7 @@ attitude_estimator_q start
local_position_estimator 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 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/lpe/plane
View File

@@ -1,3 +1,8 @@
#!/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 MAV_TYPE 1
@@ -66,7 +71,7 @@ local_position_estimator 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 etc/mixers-sitl/plane_sitl.main.mix
mavlink start -x -u 14556 -r 2000000
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/lpe/rover
View File

@@ -1,3 +1,8 @@
#!/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
dataman start
@@ -61,7 +66,7 @@ navigator start
ekf2 start
gnd_pos_control start
gnd_att_control start
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/rover_sitl.main.mix
mixer load /dev/pwm_output0 etc/mixers-sitl/rover_sitl.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/lpe/solo
View File

@@ -1,3 +1,8 @@
#!/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 MAV_TYPE 2
@@ -61,7 +66,7 @@ attitude_estimator_q start
local_position_estimator 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 etc/mixers/quad_x.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/lpe/standard_vtol
View File

@@ -1,3 +1,8 @@
#!/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 MAV_TYPE 22
@@ -74,7 +79,7 @@ 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 etc/mixers-sitl/standard_vtol_sitl.main.mix
mavlink start -x -u 14556 -r 2000000
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14540

9
posix-configs/SITL/init/lpe/typhoon_h480
View File

@@ -1,3 +1,8 @@
#!/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 MAV_TYPE 13
@@ -58,8 +63,8 @@ attitude_estimator_q start
local_position_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix
mixer append /dev/pwm_output0 ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
mixer load /dev/pwm_output0 etc/mixers/hexa_x.main.mix
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

131
posix-configs/SITL/init/rcS
View File

@@ -1,131 +0,0 @@
#!/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
# TODO: In the future we want to share rc.autostart with NuttX
#source rc.autostart
uorb start
if ! param load
then
# param load fails the first time, set defaults
param set BAT_N_CELLS 3
param set CAL_ACC0_ID 1376264
param set CAL_ACC0_XOFF 0.01
param set CAL_ACC0_XSCALE 1.01
param set CAL_ACC0_YOFF -0.01
param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZOFF 0.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_ID 1310728
param set CAL_ACC1_XOFF 0.01
param set CAL_GYRO0_ID 2293768
param set CAL_GYRO0_XOFF 0.01
param set CAL_MAG0_ID 196616
param set CAL_MAG0_XOFF 0.01
param set COM_DISARM_LAND 3
param set COM_OBL_ACT 2
param set COM_OBL_RC_ACT 0
param set COM_OF_LOSS_T 5
param set COM_RC_IN_MODE 1
param set EKF2_AID_MASK 1
param set EKF2_ANGERR_INIT 0.01
param set EKF2_GBIAS_INIT 0.01
param set EKF2_HGT_MODE 0
param set EKF2_MAG_TYPE 1
param set MC_PITCH_P 6
param set MC_PITCHRATE_P 0.2
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.2
param set MIS_TAKEOFF_ALT 2.5
param set MPC_HOLD_MAX_Z 2.0
param set MPC_Z_VEL_I 0.15
param set MPC_Z_VEL_P 0.6
param set NAV_ACC_RAD 2.0
param set NAV_DLL_ACT 2
param set RTL_DESCEND_ALT 5.0
param set RTL_LAND_DELAY 5
param set RTL_RETURN_ALT 30.0
param set SDLOG_DIRS_MAX 7
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set SYS_RESTART_TYPE 2
fi
# Use environment variable PX4_ESTIMATOR to choose estimator.
if [ "$PX4_ESTIMATOR" == "ekf2" ]; then
param set SYS_MC_EST_GROUP 2
elif [ "$PX4_ESTIMATOR" == "lpe" ]; then
param set SYS_MC_EST_GROUP 1
fi
# Use the variable set by sitl_run.sh to choose the model settings.
if [ "$PX4_SIM_MODEL" == "iris" ]; then
param set SYS_AUTOSTART 10016
elif [ "$PX4_SIM_MODEL" == "typhoon_h480" ]; then
param set SYS_AUTOSTART 6011
else
echo "Unknown model"
exit -1
fi
dataman start
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
sensors start
commander start
land_detector start multicopter
navigator start
if param compare SYS_MC_EST_GROUP 1
then
attitude_estimator_q start
local_position_estimator start
elif param compare SYS_MC_EST_GROUP 2
then
ekf2 start
else
echo "No estimator chosen"
exit -1
fi
mc_pos_control start
mc_att_control start
# TODO: eventually we want to re-use the existing autostart
# infrastructure already available on NuttX.
if param compare SYS_AUTOSTART 10016
then
source etc/init/10016_iris
elif param compare SYS_AUTOSTART 6011
then
source etc/init/6011_typhoon_h480
fi
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 50 -s ATTITUDE -u 14556
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
mavlink stream -r 20 -s RC_CHANNELS -u 14556
mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
logger start -e -t -b 1000
mavlink boot_complete
replay trystart

59
posix-configs/SITL/init/rcS_gazebo_delta_wing
View File

@@ -1,59 +0,0 @@
uorb start
param load
param set MAV_TYPE 1
param set SYS_AUTOSTART 3033
param set SYS_RESTART_TYPE 2
dataman start
param set BAT_N_CELLS 3
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 CAL_GYRO0_XOFF 0.01
param set CAL_ACC0_XOFF 0.01
param set CAL_ACC0_YOFF -0.01
param set CAL_ACC0_ZOFF 0.01
param set CAL_ACC0_XSCALE 1.01
param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_XOFF 0.01
param set CAL_MAG0_XOFF 0.01
param set SENS_BOARD_ROT 8
param set SENS_DPRES_OFF 0.001
param set SENS_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set NAV_ACC_RAD 15.0
param set FW_THR_IDLE 0.6
param set FS_GCS_ENABLE 2
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
measairspeedsim start
pwm_out_sim start
sensors start
commander start
navigator start
ekf2 start
fw_pos_control_l1 start
fw_att_control start
land_detector start fixedwing
mixer load /dev/pwm_output0 ../../../../ROMFS/sitl/mixers/delta_wing_sitl.main.mix
mavlink start -x -u 14556 -r 2000000
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 80 -s ATTITUDE -u 14556
mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 20 -s RC_CHANNELS -u 14556
mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
logger start -e -t
mavlink boot_complete
replay trystart

21
posix-configs/SITL/init/rcS_tests
View File

@@ -1,21 +0,0 @@
#!/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 SYS_RESTART_TYPE 0
dataman start
rgbledsim start
tone_alarm start
ver all
tests all
shutdown

5
posix-configs/SITL/init/shell/iris
View File

@@ -1,3 +1,8 @@
#!/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

5
posix-configs/SITL/init/test/cmd_template.in
View File

@@ -1,3 +1,8 @@
#!/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

5
posix-configs/SITL/init/test/tests_all
View File

@@ -1,3 +1,8 @@
#!/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

5
posix-configs/SITL/init/test/tests_template.in
View File

@@ -1,3 +1,8 @@
#!/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