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POSIX SITL: Enable trigger control in plane model

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This allows to test plane survey missions with the camera trigger included in SITL.
This commit is contained in:
Lorenz Meier
2019-04-20 10:01:10 +02:00
parent 5936844595
commit 320cc8bae6
2 changed files with 7 additions and 1 deletions
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ROMFS/px4fmu_common/init.d-posix/1030_plane
+2
View File
@@ -37,6 +37,8 @@ then
param set RWTO_TKOFF 1 param set RWTO_TKOFF 1
# Distance trigger mode enabled
param set TRIG_MODE 4
fi fi
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
ROMFS/px4fmu_common/init.d-posix/rcS
+5 -1
View File
@@ -110,9 +110,10 @@ simulator_tcp_port=$((4560+px4_instance))
udp_offboard_port_local=$((14580+px4_instance)) udp_offboard_port_local=$((14580+px4_instance))
udp_offboard_port_remote=$((14540+px4_instance)) udp_offboard_port_remote=$((14540+px4_instance))
[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps [ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
udp_onboard_payload_port_local=$((14280+px4_instance))
udp_onboard_payload_port_remote=$((14030+px4_instance))
udp_gcs_port_local=$((18570+px4_instance)) udp_gcs_port_local=$((18570+px4_instance))
if [ $AUTOCNF = yes ] if [ $AUTOCNF = yes ]
then then
param set SYS_AUTOSTART $REQUESTED_AUTOSTART param set SYS_AUTOSTART $REQUESTED_AUTOSTART
@@ -276,6 +277,9 @@ mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
# API/Offboard link # API/Offboard link
mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote
# Onboard link to camera
mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
# execute autostart post script if any # execute autostart post script if any
[ -e "$autostart_file".post ] && sh "$autostart_file".post [ -e "$autostart_file".post ] && sh "$autostart_file".post