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SITL jmavsim make airframes simulator specific

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-cleanup and simplify jmavsim SITL launch and debug
This commit is contained in:
Daniel Agar
2023-01-04 16:43:45 -05:00
parent 760fff7d89
commit 95a6eba36c
9 changed files with 98 additions and 143 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/10017_jmavsim_iris
+32
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@@ -0,0 +1,32 @@
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL jMAVSim
#
# @type Quadrotor Wide
#
# @maintainer Julian Oes <julian@oes.ch>
#
. ${R}etc/init.d/rc.mc_defaults
param set-default CA_AIRFRAME 0
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.1515
param set-default CA_ROTOR0_PY 0.245
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.1515
param set-default CA_ROTOR1_PY -0.1875
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.1515
param set-default CA_ROTOR2_PY -0.245
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.1515
param set-default CA_ROTOR3_PY 0.1875
param set-default CA_ROTOR3_KM -0.05
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+1
View File
@@ -33,6 +33,7 @@
px4_add_romfs_files(
10016_iris
10017_jmavsim_iris
10018_iris_foggy_lidar
10019_omnicopter
10030_px4vision
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+17 -3
View File
@@ -124,6 +124,20 @@ elif [ "$PX4_SIMULATOR" = "gz" ]; then
exit 1
fi
elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
echo "INFO [init] jMAVSim simulator"
if jps | grep -i jmavsim; then
kill $(jps | grep -i jmavsim | awk '{print $1}') || true
sleep 1
fi
param set IMU_INTEG_RATE 250
./jmavsim_run.sh -l -r 250 &
simulator_mavlink start -h localhost $((4560+px4_instance))
else
# otherwise start simulator (mavlink) module
simulator_tcp_port=$((4560+px4_instance))
@@ -134,15 +148,15 @@ else
if [ -z "${PX4_SIM_HOSTNAME}" ]; then
if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
echo "PX4 SIM HOST: localhost"
echo "INFO [init] PX4_SIM_HOSTNAME: localhost"
simulator_mavlink start -c $simulator_tcp_port
else
echo "PX4 SIM HOST: ${PX4_SIM_HOST_ADDR}"
echo "INFO [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
fi
else
echo "PX4 SIM HOST: ${PX4_SIM_HOSTNAME}"
echo "INFO [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
fi