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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
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f9794e99f8
* MC_HTE: unitialize with hover_thrust parameter * MC_HTE: constrain hover thrust setter between 0.1 and 0.9 * MC_HTE: integrate with land detector and velocity controller * MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value. * MC_HTE: use altitude agl threshold to start the estimator local_position.z is relative to the origin of the EKF while dist_bottom is above ground Co-authored-by: bresch <brescianimathieu@gmail.com>
49 lines
972 B
Bash
49 lines
972 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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uorb start
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param select /root/rootfs/eeprom/parameters
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if [ -f /root/rootfs/eeprom/parameters ]
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then
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param load
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fi
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param set SYS_AUTOSTART 4001
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param set MAV_BROADCAST 1
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param set MAV_TYPE 2
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param set MAV_SYS_ID 1
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mpu9250 -R 10 start
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hmc5883 start
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ms5611 start
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rgbled start -b 1
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adc start
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battery_status start
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gps start -d /dev/ttyS3 -s
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rc_update start
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sensors start
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commander start
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navigator start
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dataman 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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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 -d /dev/ttyPS1
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mavlink stream -d /dev/ttyPS1 -s HIGHRES_IMU -r 50
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mavlink stream -d /dev/ttyPS1 -s ATTITUDE -r 50
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rc_input start -d /dev/ttyS2
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linux_pwm_out start -p ocpoc_mmap -m ROMFS/px4fmu_common/mixers/ocpoc_quad_x.main.mix
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logger start -t -b 200
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mavlink boot_complete
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