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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
47 lines
876 B
Bash
47 lines
876 B
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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# HITL configuration
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# connect to it with jMAVSim:
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# ./Tools/jmavsim_run.sh -q -i <IP> -p 14577 -r 250
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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 1001
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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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rc_update start
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sensors start -hil
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commander start -hil
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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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mc_rate_control start
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mavlink start -x -u 14577 -r 1000000 -p
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navio_sysfs_rc_in start
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pwm_out_sim start
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mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix
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logger start -t -b 200
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mavlink boot_complete
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