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25 lines
724 B
25 lines
724 B
#!/bin/sh
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# shellcheck disable=SC2154
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# Simulator IMU data provided at 250 Hz
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param set-default IMU_INTEG_RATE 250
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# For simulation, allow registering modes while armed for developer convenience
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param set-default COM_MODE_ARM_CHK 1
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if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
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# Run SIH
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. px4-rc.sihsim
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elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
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# Run Gazebo (gz)
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. px4-rc.gzsim
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elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
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# Run jMAVSim
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. px4-rc.jmavsim
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else
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# Run simulator_mavlink module for interface with gazebo-classic
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. px4-rc.mavlinksim
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fi
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