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#!nsh
#
# USB HIL start
#
echo "[HIL] starting.."
uorb start
# Tell MAVLink that this link is "fast"
mavlink start -b 230400 -d /dev/console
# Create a fake HIL /dev/pwm_output interface
hil mode_pwm
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/parameters
if [ -f /fs/microsd/parameters ]
then
param load /fs/microsd/parameters
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 1
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start the attitude estimator (depends on orb)
#
kalman_demo start
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
control_demo start
echo "[HIL] setup done, running"
# Exit shell to make it available to MAVLink
exit
|
