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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
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154 lines
3.4 KiB
Plaintext
154 lines
3.4 KiB
Plaintext
#!nsh
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#
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# MAVLink startup script.
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#
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# NOTE: Script variables are declared/initialized/unset in the rcS script.
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#
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if ! ver hwcmp INTEL_AEROFC_V1
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then
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# Start MAVLink on the USB port
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mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
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fi
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if ver hwcmp PX4_FMU_V4
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then
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# Pixracer: start MAVLink on Wifi (ESP8266 port)
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mavlink start -r 20000 -b 921600 -d /dev/ttyS0
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fi
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if ver hwcmp AV_X_V1
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then
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# AV-X: start MAVLink to companion (connected to TX2)
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mavlink start -d /dev/ttyS5 -r 20000 -b 460800 -m onboard
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# AV-X: start MAVLink UDP port 14570
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mavlink start -x -u 14570
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fi
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#
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# SYS_COMPANION transition support. Can be removed after the next release (currently at 1.8.0)
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#
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if param compare SYS_COMPANION 319200
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then
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param set MAV_1_CONFIG 102
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param set MAV_1_RATE 1000
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param set SER_TEL2_BAUD 19200
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 519200
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then
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param set MAV_1_CONFIG 102
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param set MAV_1_MODE 7
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param set MAV_1_RATE 1000
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param set SER_TEL2_BAUD 19200
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 338400
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then
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param set MAV_1_CONFIG 102
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param set MAV_1_RATE 1000
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param set SER_TEL2_BAUD 38400
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 538400
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then
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param set MAV_1_CONFIG 102
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param set MAV_1_MODE 7
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param set MAV_1_RATE 1000
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param set SER_TEL2_BAUD 38400
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 57600
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then
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param set MAV_1_CONFIG 102
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param set MAV_1_MODE 2
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param set MAV_1_RATE 5000
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param set SER_TEL2_BAUD 57600
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 157600
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then
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param set MAV_1_CONFIG 102
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param set MAV_1_MODE 3
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param set MAV_1_RATE 1000
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param set SER_TEL2_BAUD 57600
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 257600
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then
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param set MAV_1_CONFIG 102
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param set MAV_1_MODE 4
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param set MAV_1_RATE 5000
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param set SER_TEL2_BAUD 57600
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 357600
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then
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param set MAV_1_CONFIG 102
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param set MAV_1_RATE 1000
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param set SER_TEL2_BAUD 57600
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 557600
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then
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param set MAV_1_CONFIG 102
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param set MAV_1_RATE 1000
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param set MAV_1_MODE 7
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param set SER_TEL2_BAUD 57600
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 3115200
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then
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param set MAV_1_CONFIG 102
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param set MAV_1_RATE 1000
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param set SER_TEL2_BAUD 115200
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 4115200
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then
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# Iridium
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param set ISBD_CONFIG 102
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 5115200
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then
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param set MAV_1_CONFIG 102
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param set MAV_1_RATE 1000
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param set MAV_1_MODE 7
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param set SER_TEL2_BAUD 115200
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 460800
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then
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param set MAV_1_CONFIG 102
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param set MAV_1_RATE 5000
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param set MAV_1_MODE 2
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param set SER_TEL2_BAUD 460800
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 921600
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then
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param set MAV_1_CONFIG 102
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param set MAV_1_RATE 80000
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param set MAV_1_MODE 2
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param set SER_TEL2_BAUD 921600
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 1921600
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then
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param set MAV_1_CONFIG 102
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param set MAV_1_RATE 20000
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param set SER_TEL2_BAUD 921600
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 1500000
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then
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param set MAV_1_CONFIG 102
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param set MAV_1_RATE 140000
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param set MAV_1_MODE 2
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param set SER_TEL2_BAUD 1500000
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param set SYS_COMPANION 0
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fi
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