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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
62 lines
1.0 KiB
Bash
62 lines
1.0 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 FW
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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 2100
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param set MAV_TYPE 1
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# Multi-EKF
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param set EKF2_MULTI_IMU 2
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param set SENS_IMU_MODE 0
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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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ms4525_airspeed start -X
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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 fixedwing
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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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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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mixer load /dev/pwm_out etc/mixers/AETRFG.main.mix
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logger start -t -b 200
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mavlink boot_complete
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