mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-28 02:36:37 +08:00
Julian Oes
e320593983
A gimbal user needs to be able to receive gimbal device messages such as GIMBAL_DEVICE_INFORMATION. Therefore, we need to forward this MAVLink instance.
42 lines
1.9 KiB
Bash
42 lines
1.9 KiB
Bash
#!/bin/sh
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# shellcheck disable=SC2154
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udp_offboard_port_local=$((14580+px4_instance))
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udp_offboard_port_remote=$((14540+px4_instance))
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[ "$px4_instance" -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
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udp_onboard_payload_port_local=$((14280+px4_instance))
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udp_onboard_payload_port_remote=$((14030+px4_instance))
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udp_onboard_gimbal_port_local=$((13030+px4_instance))
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udp_onboard_gimbal_port_remote=$((13280+px4_instance))
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udp_gcs_port_local=$((18570+px4_instance))
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# GCS link
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mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
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mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
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mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
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mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
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mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
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mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
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mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
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mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
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mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
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mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
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# API/Offboard link
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mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
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# Onboard link to camera
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mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
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# Onboard link to gimbal
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mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -f -m gimbal -o $udp_onboard_gimbal_port_remote
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# To display for SIH sitl
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if [ "$PX4_SIMULATOR" = "sihsim" ]; then
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udp_sihsim_port_local=$((19450+px4_instance))
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udp_sihsim_port_remote=$((19410+px4_instance))
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mavlink start -x -u $udp_sihsim_port_local -r 400000 -m custom -o $udp_sihsim_port_remote
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mavlink stream -r 200 -s HIL_ACTUATOR_CONTROLS -u $udp_sihsim_port_local
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mavlink stream -r 25 -s HIL_STATE_QUATERNION -u $udp_sihsim_port_local
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fi
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