mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-03-27 01:12:18 +08:00
4040e4cdf2
- new modules/simulation directory to collect all simulators and related modules - new Tools/simulation directory to collect and organize scattered simulation submodules, scripts, etc - simulation module renamed to simulator_mavlink - sih renamed to simulator_sih (not a great name, but I wanted to be clear it was a simulator) - ignition_simulator renamed to simulator_ignition_bridge - large sitl_target.cmake split by simulation option and in some cases pushed to appropriate modules - sitl targets broken down to what's actually available (eg jmavsim only has 1 model and 1 world) - new Gazebo consistently referred to as Ignition for now (probably the least confusing thing until we fully drop Gazebo classic support someday)
280 lines
6.8 KiB
Bash
280 lines
6.8 KiB
Bash
#!/bin/sh
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set -e
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# PX4 commands need the 'px4-' prefix in bash.
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# (px4-alias.sh is expected to be in the PATH)
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# shellcheck disable=SC1091
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. px4-alias.sh
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#search path for sourcing px4-rc.*
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PATH="$PATH:${R}etc/init.d-posix"
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#
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# Main SITL startup script
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#
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# check for ekf2 replay
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# shellcheck disable=SC2154
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if [ "$replay_mode" = "ekf2" ]
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then
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. ${R}etc/init.d-posix/rc.replay
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exit 0
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fi
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# initialize script variables
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set IO_PRESENT no
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set MIXER skip
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set MIXER_AUX none
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set MIXER_FILE none
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set OUTPUT_MODE sim
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set EXTRA_MIXER_MODE none
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set PWM_OUT none
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set SDCARD_MIXERS_PATH etc/mixers
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set USE_IO no
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set VEHICLE_TYPE none
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set LOGGER_ARGS ""
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set LOGGER_BUF 1000
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set RUN_MINIMAL_SHELL no
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set SYS_AUTOSTART=0
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if [ "$PX4_SIM_MODEL" = "shell" ]
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then
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set RUN_MINIMAL_SHELL yes
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elif [ -n "$PX4_SYS_AUTOSTART" ]
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then
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echo "env SYS_AUTOSTART: ${PX4_SYS_AUTOSTART}"
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SYS_AUTOSTART=${PX4_SYS_AUTOSTART}
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elif [ "$PX4_SIM_MODEL" = "none" ] || [ -z $PX4_SIM_MODEL ]
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then
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# no airframe selected
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SYS_AUTOSTART=0
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elif [ -n "$PX4_SIM_MODEL" ]
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then
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# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
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# TODO: unify with rc.autostart generation
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# shellcheck disable=SC2012
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REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
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if [ -z "$REQUESTED_AUTOSTART" ]; then
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echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
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exit 1
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else
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SYS_AUTOSTART=$REQUESTED_AUTOSTART
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echo "INFO [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
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fi
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fi
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# Load parameters
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set PARAM_FILE parameters.bson
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param select $PARAM_FILE
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if [ -f $PARAM_FILE ]
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then
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if param load
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then
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echo "[param] Loaded: $PARAM_FILE"
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else
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echo "[param] FAILED loading $PARAM_FILE"
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fi
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fi
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# exit early when the minimal shell is requested
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[ $RUN_MINIMAL_SHELL = yes ] && exit 0
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if param compare SYS_AUTOSTART $SYS_AUTOSTART
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then
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set AUTOCNF no
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elif [ "$SYS_AUTOSTART" -eq 0 ]
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then
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set AUTOCNF no
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else
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set AUTOCNF yes
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param set SYS_AUTOCONFIG 1
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fi
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if param compare SYS_AUTOCONFIG 1
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then
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# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
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param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
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set AUTOCNF yes
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fi
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# multi-instance setup
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# shellcheck disable=SC2154
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param set MAV_SYS_ID $((px4_instance+1))
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if [ $AUTOCNF = yes ]
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then
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param set SYS_AUTOSTART $SYS_AUTOSTART
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param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
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param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
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param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
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param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
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param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
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param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
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param set CAL_MAG0_ID 197388
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param set CAL_MAG1_ID 197644
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param set SENS_BOARD_X_OFF 0.000001
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param set SENS_DPRES_OFF 0.001
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fi
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param set-default BAT1_N_CELLS 4
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param set-default CBRK_AIRSPD_CHK 0
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param set-default CBRK_SUPPLY_CHK 894281
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# disable check, no CPU load reported on posix yet
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param set-default COM_CPU_MAX -1
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# Don't require RC calibration and configuration
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param set-default COM_RC_IN_MODE 1
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# Speedup SITL startup
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param set-default EKF2_REQ_GPS_H 0.5
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# Multi-EKF
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param set-default EKF2_MULTI_IMU 3
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param set-default SENS_IMU_MODE 0
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param set-default EKF2_MULTI_MAG 2
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param set-default SENS_MAG_MODE 0
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param set-default IMU_GYRO_FFT_EN 1
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param set-default -s MC_AT_EN 1
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# By default log from boot until first disarm.
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param set-default SDLOG_MODE 1
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# enable default, estimator replay and vision/avoidance logging profiles
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param set-default SDLOG_PROFILE 131
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param set-default SDLOG_DIRS_MAX 7
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param set-default TRIG_INTERFACE 3
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param set-default SYS_FAILURE_EN 1
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# Adapt timeout parameters if simulation runs faster or slower than realtime.
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if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
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COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
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echo "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
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param set COM_DL_LOSS_T $COM_DL_LOSS_T_LONGER
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COM_RC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
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echo "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
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param set COM_RC_LOSS_T $COM_RC_LOSS_T_LONGER
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COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
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echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
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param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
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COM_OBC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 5.0" | bc)
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echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
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param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
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fi
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# Autostart ID
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autostart_file=''
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# shellcheck disable=SC2231
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for f in ${R}etc/init.d-posix/airframes/"$(param show -q SYS_AUTOSTART)"_*
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do
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filename=$(basename "$f")
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case "$filename" in
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*\.*)
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# ignore files that contain a dot (e.g. <vehicle>.post)
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;;
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*)
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autostart_file="$f"
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;;
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esac
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done
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if [ -e "$autostart_file" ]
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then
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. "$autostart_file"
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elif [ ! -e "$autostart_file" ] && [ "$SYS_AUTOSTART" -ne "0" ]
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then
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echo "Error: no autostart file found ($autostart_file)"
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exit 1
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fi
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#user defined params for instances can be in PATH
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. px4-rc.params
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dataman start
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# only start the simulator if not in replay mode, as both control the lockstep time
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if ! replay tryapplyparams
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then
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. px4-rc.simulator
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fi
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load_mon start
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battery_simulator start
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tone_alarm start
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rc_update start
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manual_control start
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sensors start
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commander start
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# Configure vehicle type specific parameters.
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# Note: rc.vehicle_setup is the entry point for rc.interface,
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# rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
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#
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. ${R}etc/init.d/rc.vehicle_setup
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navigator start
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# Try to start the micrortps_client with UDP transport if module exists
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if px4-micrortps_client status > /dev/null 2>&1
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then
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. px4-rc.rtps
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fi
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if param greater -s MNT_MODE_IN -1
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then
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gimbal start
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fi
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if param greater -s TRIG_MODE 0
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then
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camera_trigger start
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camera_feedback start
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fi
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if param compare -s IMU_GYRO_FFT_EN 1
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then
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gyro_fft start
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fi
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if param compare -s IMU_GYRO_CAL_EN 1
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then
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gyro_calibration start
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fi
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#user defined mavlink streams for instances can be in PATH
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. px4-rc.mavlink
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# execute autostart post script if any
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[ -e "$autostart_file".post ] && . "$autostart_file".post
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# Run script to start logging
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if param compare SYS_MC_EST_GROUP 2
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then
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set LOGGER_ARGS "-p ekf2_timestamps"
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else
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set LOGGER_ARGS "-p vehicle_attitude"
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fi
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. ${R}etc/init.d/rc.logging
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mavlink boot_complete
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replay trystart
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