mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 01:12:11 +00:00
de4f594937
The bulk of this change was tightly coupled and needed to be deleted in one pass. Some of the smaller changes were things that broke as a result of the initial purge and subsequently fixed by further eradicating unnecessary platform differences. Finally, I deleted any dead code I came across in the related files I touched while going through everything.
- DriverFramework (src/lib/DriverFramework submodule) completely removed
- added dspal submodule in qurt platform (was brought in via DriverFramework)
- all df wrapper drivers removed
- all boards using df wrapper drivers updated to use in tree equivalents
- unused empty arch/board.h on posix and qurt removed
- unused IOCTLs removed (pub block, priv, etc)
- Integrator delete methods only used from df wrapper drivers
- commander: sensor calibration use "NuttX version" everywhere for now
- sensors: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- battery_status: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- cdev cleanup conflicting typedefs and names with actual OS (pollevent_t, etc)
- load_mon and top remove from linux boards (unused)
- delete unused PX4_MAIN_FUNCTION
- delete unused getreg32 macro
- delete unused SIOCDEVPRIVATE define
- named each platform tasks consistently
- posix list_devices and list_topics removed (list_files now shows all virtual files)
104 lines
2.3 KiB
Bash
104 lines
2.3 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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muorb start
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# We need to wait until the DSP side is ready before
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# sending commands with qshell.
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sleep 1
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# default, generic quad platform
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if param compare SYS_AUTOSTART 4100
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then
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param set MAV_TYPE 2
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qshell pwm_out_rc_in start -d /dev/tty-2
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qshell gps start -d /dev/tty-4
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qshell hmc5883 start
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# Qualcomm 200qx microheli platform
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elif param compare SYS_AUTOSTART 4200
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then
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param set MAV_TYPE 2
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param set MC_YAW_P 7.0
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param set MC_YAWRATE_P 0.08
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param set MC_YAWRATE_I 0.0
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param set MC_YAWRATE_D 0
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param set MC_PITCH_P 7.0
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param set MC_PITCHRATE_P 0.08
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param set MC_PITCHRATE_I 0.0
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param set MC_PITCHRATE_D 0.0001
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param set MC_ROLL_P 7.0
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param set MC_ROLLRATE_P 0.08
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param set MC_ROLLRATE_I 0.0
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param set MC_ROLLRATE_D 0.0001
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param set SENS_BOARD_ROT 0
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# Qualcomm internal 210qc platform
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elif param compare SYS_AUTOSTART 4210
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then
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param set MAV_TYPE 2
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param set MC_YAW_P 12
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param set MC_YAWRATE_P 0.08
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param set MC_YAWRATE_I 0.0
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param set MC_YAWRATE_D 0
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param set MC_PITCH_P 7.0
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param set MC_PITCHRATE_P 0.08
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param set MC_PITCHRATE_I 0.0
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param set MC_PITCHRATE_D 0.001
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param set MC_ROLL_P 7.0
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param set MC_ROLLRATE_P 0.08
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param set MC_ROLLRATE_I 0.0
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param set MC_ROLLRATE_D 0.001
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param set SENS_BOARD_ROT 0
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else
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echo "NO AIRFRAME CHOSEN!"
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echo "Please set parameter to select airframe:"
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echo " SYS_AUTOSTART 4100: generic (flight) Quad"
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echo " SYS_AUTOSTART 4200: Microheli 200QX"
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fi
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qshell mpu9250 start
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qshell bmp280 start
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qshell rc_update start
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qshell sensors start
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if param compare SYS_MC_EST_GROUP 1
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then
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qshell attitude_estimator_q start
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qshell local_position_estimator start
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elif param compare SYS_MC_EST_GROUP 2
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then
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param set EKF2_GBIAS_INIT 0.01
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param set EKF2_ANGERR_INIT 0.01
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qshell ekf2 start
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else
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echo "No estimator chosen"
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exit -1
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fi
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qshell commander start
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qshell land_detector start multicopter
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qshell mc_pos_control start
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qshell mc_att_control start
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qshell mc_rate_control start
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logger start -b 200 -t
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param set MAV_BROADCAST 1
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dataman start
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navigator start
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mavlink start -u 14556 -r 1000000
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mavlink stream -u 14556 -s HIGHRES_IMU -r 50
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mavlink stream -u 14556 -s ATTITUDE -r 50
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mavlink stream -u 14556 -s RC_CHANNELS -r 20
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mavlink boot_complete
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