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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
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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.
94 lines
1.3 KiB
Bash
94 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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# navio config for simple testing
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uorb start
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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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param set CBRK_SUPPLY_CHK 894281
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param set SYS_AUTOSTART 4001
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param set MAV_BROADCAST 1
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param set MAV_TYPE 2
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param set IMU_GYRO_RATEMAX 400
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dataman start
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load_mon start
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mpu9250 -s -R 2 start
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lsm9ds1 -s -R 4 start
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lsm9ds1_mag -s -R 4 start
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ms5611 -X start
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navio_rgbled start
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board_adc start
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battery_status start
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gps start -d /dev/spidev0.0 -i spi -p ubx
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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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mc_pos_control start
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mc_att_control start
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mavlink start -x -u 14556 -r 1000000
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if [ -c /dev/ttyUSB0 ]
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then
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mavlink start -x -d /dev/ttyUSB0
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elif [ -c /dev/ttyAMA0 ]
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then
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mavlink start -x -d /dev/ttyAMA0
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fi
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navio_sysfs_rc_in start
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linux_pwm_out start
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logger start -t -f -b 200
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mavlink boot_complete
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sleep 5
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ver all
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sleep 1
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commander check
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sleep 1
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dataman status
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sleep 1
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ekf2 status
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sleep 1
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logger status
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sleep 1
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mavlink status
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sleep 1
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mavlink status streams
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sleep 1
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param status
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sleep 1
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pwm info
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sleep 1
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sensors status
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sleep 1
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perf
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sleep 1
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perf latency
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sleep 1
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work_queue status
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sleep 1
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uorb top -1
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sleep 1
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shutdown
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