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)
49 lines
978 B
Bash
49 lines
978 B
Bash
#!/bin/sh
|
|
# PX4 commands need the 'px4-' prefix in bash.
|
|
# (px4-alias.sh is expected to be in the PATH)
|
|
. px4-alias.sh
|
|
|
|
uorb start
|
|
|
|
param select /root/rootfs/eeprom/parameters
|
|
if [ -f /root/rootfs/eeprom/parameters ]
|
|
then
|
|
param load
|
|
fi
|
|
param set SYS_AUTOSTART 4001
|
|
param set MAV_BROADCAST 1
|
|
param set MAV_TYPE 2
|
|
param set MAV_SYS_ID 1
|
|
|
|
mpu9250 -R 10 start
|
|
hmc5883 start
|
|
ms5611 start
|
|
|
|
rgbled start -b 1
|
|
|
|
adc start
|
|
battery_status start
|
|
|
|
gps start -d /dev/ttyS3 -s
|
|
rc_update start
|
|
sensors start
|
|
commander start
|
|
navigator start
|
|
dataman start
|
|
ekf2 start
|
|
land_detector start multicopter
|
|
mc_pos_control start
|
|
mc_att_control start
|
|
mc_rate_control start
|
|
|
|
mavlink start -x -d /dev/ttyPS1
|
|
mavlink stream -d /dev/ttyPS1 -s HIGHRES_IMU -r 50
|
|
mavlink stream -d /dev/ttyPS1 -s ATTITUDE -r 50
|
|
|
|
linux_sbus start -d /dev/ttyS2 -c 10
|
|
#rc_input start -d /dev/ttyS2
|
|
|
|
linux_pwm_out start -p ocpoc_mmap -m ROMFS/px4fmu_common/mixers/ocpoc_quad_x.main.mix
|
|
logger start -t -b 200
|
|
mavlink boot_complete
|