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- #!/bin/bash
- # a quad following a plane
- # assume we start the script from the root directory
- ROOTDIR=$PWD
- COPTER=$ROOTDIR/build/sitl/bin/arducopter
- PLANE=$ROOTDIR/build/sitl/bin/arduplane
- [ -x "$COPTER" -a -x "$PLANE" ] || {
- ./waf configure --board sitl
- ./waf plane copter
- }
- # setup for either TCP or multicast
- #UARTA="tcp:0"
- UARTA="mcast:"
- PLANE_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/plane.parm"
- COPTER_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/copter.parm"
- mkdir -p swarm/plane swarm/copter
- (cd swarm/plane && $PLANE --model plane --uartA $UARTA --defaults $PLANE_DEFAULTS) &
- # create default parameter file for the follower
- cat <<EOF > swarm/copter/follow.parm
- SYSID_THISMAV 2
- FOLL_ENABLE 1
- FOLL_OFS_X -5
- FOLL_OFS_TYPE 1
- FOLL_SYSID 1
- FOLL_DIST_MAX 1000
- EOF
- (cd swarm/copter && $COPTER --model quad --uartA $UARTA --instance 1 --defaults $COPTER_DEFAULTS,follow.parm) &
- wait
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