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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
96 lines
1.4 KiB
Bash
96 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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# navio config for simple testing
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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_TYPE 2
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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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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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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/quad_x.main.mix
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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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