mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 01:12:11 +00:00
57da61dc17
UART is the primary interface for telemetry radio: https://docs.emlid.com/navio2/ardupilot/hardware-setup/#uart-radio Check first if /dev/ttyUSB0 exists (https://docs.emlid.com/navio2/ardupilot/hardware-setup/#usb-radio); if not, fall back to configuring over UART (/dev/ttyAMA0). Use stricter check for character special file (-c) rather than just file (-f). 'console=serial0,115200' needs to be removed from /cmdline.txt as additional configuration step. This should be documented in the Navio2 section of docs.px4.io. Presumably, this is already performed as part of the Raspberry Pi OS prebuilt image Emlid spins.
61 lines
1.0 KiB
Bash
61 lines
1.0 KiB
Bash
#!/bin/sh
|
|
# PX4 commands need the 'px4-' prefix in bash.
|
|
# (px4-alias.sh is expected to be in the PATH)
|
|
. px4-alias.sh
|
|
|
|
# navio config for FW
|
|
|
|
uorb start
|
|
|
|
if [ -f eeprom/parameters ]
|
|
then
|
|
param load
|
|
fi
|
|
param set CBRK_SUPPLY_CHK 894281
|
|
param set MAV_BROADCAST 1
|
|
param set SYS_AUTOSTART 2100
|
|
param set MAV_TYPE 1
|
|
param set IMU_GYRO_RATEMAX 400
|
|
|
|
dataman start
|
|
|
|
load_mon start
|
|
|
|
mpu9250 -s -R 2 start
|
|
lsm9ds1 -s -R 4 start
|
|
lsm9ds1_mag -s -R 4 start
|
|
ms5611 -X start
|
|
|
|
navio_rgbled start
|
|
|
|
board_adc start
|
|
battery_status start
|
|
|
|
gps start -d /dev/spidev0.0 -i spi -p ubx
|
|
ms4525_airspeed start -X
|
|
rc_update start
|
|
sensors start
|
|
commander start
|
|
navigator start
|
|
ekf2 start
|
|
land_detector start fixedwing
|
|
fw_att_control start
|
|
fw_pos_control_l1 start
|
|
|
|
mavlink start -x -u 14556 -r 1000000
|
|
|
|
if [ -c /dev/ttyUSB0 ]
|
|
then
|
|
mavlink start -x -d /dev/ttyUSB0
|
|
elif [ -c /dev/ttyAMA0 ]
|
|
then
|
|
mavlink start -x -d /dev/ttyAMA0
|
|
fi
|
|
|
|
navio_sysfs_rc_in start
|
|
linux_pwm_out start -m etc/mixers/AETRFG.main.mix
|
|
|
|
logger start -t -b 200
|
|
|
|
mavlink boot_complete
|