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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
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3cd9b3c2cf
Mavlink Ethernet channel settings such as udp port, remote port and broadcast mode now can be changed dynamically via parameters.
90 lines
2.5 KiB
Bash
90 lines
2.5 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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# config for a quad
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# modified from ../rpi/px4.config
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param load
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param set CBRK_SUPPLY_CHK 894281
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# Auto-start script index. Defines the auto-start script used to bootstrap the system.
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# It seems that SYS_AUTOSTART does not work as intended on posix platform.
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# For now, find the corresponding settings, and manually set them in ground control.
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#
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# 4001: Generic Quadrotor X; 4011: DJI Flame Wheel F450
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param set SYS_AUTOSTART 4011
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# DJI ESCs do not support calibration and need higher PWM_MIN
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# http://www.dji.com/e2000/info indicates E2000 Operating Pulse Width: 1120 to 1920 μs
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# It seems that all latest DJI ESC have the same range.
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# Note that the setting here applies to all PWM channels.
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# param set PWM_MAIN_MIN 1120
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# param set PWM_MAIN_MAX 1920
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# Not using DJI 430 LITE ESC anymore due to its hiccups:
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# each random motor stop would cause a scary flip in the fly
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# Replacing with 4 BLHeli32 (Wraith32 V2) ESCs solved the main problem in BBBlue porting
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# Broadcast heartbeats on local network. This allows a ground control station
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# to automatically find the drone on the local network.
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# MAV_TYPE: 1 Fixed wing aircraft, 2 Quadrotor
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param set MAV_TYPE 2
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# Three possible main power battery sources for BBBlue:
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# 1. onboard 2S LiPo battery connector, which is connect to ADC channel 6
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# 2. onboard 9-18V DC Jack, which is connect to ADC channel 5. This is the board default.
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# 3. other power source (e.g., LiPo battery more than 4S/18V).
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# Scale the voltage to below 1.8V and connect it to ADC channel # 0, 1, 2 or 3.
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param set BAT1_V_CHANNEL 5
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# Battery voltage scale factor, from BBBlue schematics: (4.7K + 47K) / 4.7K = 11
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param set BAT_V_DIV 11.0
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dataman start
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load_mon start
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bmp280 -I start
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mpu9250_i2c -I start
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# options: -R rotation
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gps start -d /dev/ttyS2 -s -p ubx
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#rgbled start -I -b 1
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board_adc start
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battery_status start
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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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land_detector start multicopter
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mc_hover_thrust_estimator start
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flight_mode_manager start
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mc_pos_control start
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mc_att_control start
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mc_rate_control start
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mavlink start -n SoftAp -x -u 14556 -r 1000000 -p
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# -n name of wifi interface: SoftAp, wlan or your custom interface,
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# e.g., -n SoftAp . The default is wlan
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sleep 1
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# RC port is mapped to /dev/ttyS4 (auto-detected)
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#rc_input start -d /dev/ttyS4
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linux_pwm_out start
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mixer load /dev/pwm_out etc/mixers/quad_x.main.mix
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logger start -t -b 200
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mavlink boot_complete
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