mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 01:12:11 +00:00
d32a80df3a
- this is one of the last pieces of the system that still depend on DriverFramework - add new SIM_GPS_NOISE_X parameter for optionally increasing the GPS noise multiplier (was previously a gpssim command line option) - add SIM_x_BLOCK parameters to block sensor publication - SIM_GPS_BLOCK - SIM_ACCEL_BLOCK - SIM_GYRO_BLOCK - SIM_MAG_BLOCK - SIM_BARO_BLOCK - SIM_DPRES_BLOCK
91 lines
1.4 KiB
Bash
91 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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uorb start
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param load
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param set BAT_N_CELLS 3
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param set MAV_TYPE 22
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param set VT_TYPE 2
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param set SYS_RESTART_TYPE 0
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dataman start
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simulator start
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tone_alarm start
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pwm_out_sim start
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rc_update start
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sensors start
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commander start
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land_detector start vtol
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navigator start
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ekf2 start
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vtol_att_control start
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mc_pos_control start vtol
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mc_att_control start vtol
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mc_rate_control start vtol
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fw_pos_control_l1 start vtol
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fw_att_control start vtol
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airspeed_selector start
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#mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
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ver all
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logger start -e -t
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mavlink boot_complete
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sleep 2
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echo "Boot complete"
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# status of all running modules
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echo "Checking status of all modules"
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logger status
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pwm_out_sim status
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sensors status
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commander status
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rc_update stop
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land_detector status
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navigator status
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ekf2 status
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mc_pos_control status
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mc_att_control status
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mc_rate_control status
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fw_pos_control_l1 status
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fw_att_control status
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airspeed_selector status
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dataman status
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uorb status
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# stop all
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echo "Stopping all modules"
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logger stop
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pwm_out_sim stop
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mc_rate_control stop
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mc_att_control stop
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fw_att_control stop
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mc_pos_control stop
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fw_pos_control_l1 stop
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navigator stop
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commander stop
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land_detector stop
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ekf2 stop
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airspeed_selector stop
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sensors stop
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sleep 2
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simulator stop
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tone_alarm stop
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dataman stop
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#uorb stop
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shutdown
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