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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 01:12:11 +00:00
3cd9b3c2cf
Mavlink Ethernet channel settings such as udp port, remote port and broadcast mode now can be changed dynamically via parameters.
79 lines
1.4 KiB
Bash
79 lines
1.4 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 2
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param set SYS_AUTOSTART 4001
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# Multi-EKF
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param set EKF2_MULTI_IMU 1
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param set SENS_IMU_MODE 0
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param set EKF2_MULTI_MAG 1
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param set SENS_MAG_MODE 0
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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/quad_x.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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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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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 -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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