44 lines
1.2 KiB
Plaintext
44 lines
1.2 KiB
Plaintext
# Stub configuration used to generate test mavlink traffic.
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# To use:
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# build_posix_sitl_default/src/firmware/posix/px4 .../px4-stub
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#
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uorb start
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param load
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dataman start
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param set MAV_BROADCAST 1
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# Lock to v1
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param set MAV_PROTO_VER 1
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param set MAV_TYPE 2
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param set SYS_AUTOSTART 4010
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param set SYS_RESTART_TYPE 2
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simulator start -t
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tone_alarm start
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gyrosim start
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accelsim start
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barosim start
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adcsim start
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gpssim start
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pwm_out_sim mode_pwm
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sensors start
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commander start
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land_detector start multicopter
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navigator start
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ekf2 start
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mc_pos_control start
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mc_att_control start
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mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix
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mavlink start -u 14556 -r 4000000
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mavlink start -u 14557 -r 4000000 -m onboard -o 14540
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mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
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mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
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mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
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mavlink stream -r 50 -s ATTITUDE -u 14556
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mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
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mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
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mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
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mavlink stream -r 20 -s RC_CHANNELS -u 14556
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mavlink stream -r 250 -s HIGHRES_IMU -u 14556
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mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
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logger start -e -t
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mavlink boot_complete
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