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improve SITL startup script

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tumbili
2015-06-26 00:40:02 +02:00
parent 2b0feb72d2
commit f7a6afc976
1 changed files with 8 additions and 0 deletions
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posix-configs/SITL/init/rcS
+8
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@@ -22,6 +22,9 @@ param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZSCALE 1.01 param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_XOFF 0.01 param set CAL_ACC1_XOFF 0.01
param set CAL_MAG0_XOFF 0.01 param set CAL_MAG0_XOFF 0.01
param set MPC_XY_P 0.4
param set MPC_XY_VEL_P 0.2
param set MPC_XY_VEL_D 0.005
rgbled start rgbled start
tone_alarm start tone_alarm start
gyrosim start gyrosim start
@@ -32,8 +35,13 @@ gpssim start
hil mode_pwm hil mode_pwm
commander start commander start
sensors start sensors start
navigator start
attitude_estimator_q start attitude_estimator_q start
position_estimator_inav start position_estimator_inav start
mc_pos_control start mc_pos_control start
mc_att_control start mc_att_control start
mixer load /dev/pwm_output0 ../../ROMFS/px4fmu_common/mixers/quad_x.main.mix mixer load /dev/pwm_output0 ../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 50 -s ATTITUDE -u 14556
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556