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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
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a260ddd8ff
- the ekf2 frontend typically runs in the background for up to 30 seconds waiting for all instances to appear, but this isn't supported by the legacy posix launcher
75 lines
1.3 KiB
Bash
75 lines
1.3 KiB
Bash
#!/bin/sh
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# PX4 commands need the 'px4-' prefix in bash.
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# (px4-alias.sh is expected to be in the PATH)
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. px4-alias.sh
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if [ -f eeprom/parameters ]
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then
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param load
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fi
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# system_power not implemented
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param set CBRK_SUPPLY_CHK 894281
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# broadcast to LAN
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# always keep current config
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param set SYS_AUTOCONFIG 0
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# useless but required for parameter completeness
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param set MAV_TYPE 1
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param set SYS_AUTOSTART 2100
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dataman start
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load_mon start
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battery_status start
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# internal IMU
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if ! icm42688p start -q -s -R 4
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then
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# some boards has ICM42605 instead
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icm42605 start -s -R 4
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fi
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if ! ist8310 start -q -I -a 15 -R 4
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then
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# some boards has QMC5883l instead
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qmc5883l start -I -R 6
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fi
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ms5611 start -I
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# ADC
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ads1115 start -I
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# PWM
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pca9685_pwm_out start
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mixer load /dev/pwm_output0 etc/mixers/AAERTWF.main.mix
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# external GPS & compass
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gps start -d /dev/ttySC0 -i uart -p ubx -s
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#hmc5883 start -X
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#ist8310 start -X
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# Airspeed
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ms4525_airspeed start -X
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rc_input start -d /dev/ttyAMA0
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rc_update start
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sensors start
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commander start
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navigator start
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ekf2 start
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airspeed_selector start
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land_detector start fixedwing
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flight_mode_manager start
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fw_att_control start
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fw_pos_control_l1 start
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mavlink start -x -u 14556 -r 1000000 -p
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# Telem
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mavlink start -x -Z -d /dev/ttySC1
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logger start -t -b 200
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mavlink boot_complete
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