From 64c3b330eef72395dc1243f9a4de0f6041cf13f2 Mon Sep 17 00:00:00 2001
From: jwilson <jywilson99@hotmail.com>
Date: Thu, 5 May 2016 19:51:13 -0700
Subject: [PATCH] Partial fix for Snapdragon HITL mode
---
Makefile | 1 +
posix-configs/eagle/hil/px4.config | 22 +++++++++++++---------
src/modules/commander/commander.cpp | 2 +-
3 files changed, 15 insertions(+), 10 deletions(-)
diff --git a/Makefile b/Makefile
index 85fb00742a..8b3295aed4 100644
--- a/Makefile
+++ b/Makefile
@@ -189,6 +189,7 @@ posix_eagle_default:
$(call cmake-build,$@)
eagle_default: posix_eagle_default qurt_eagle_default
+eagle_legacy_default: posix_eagle_legacy_driver_default qurt_eagle_legacy_driver_default
qurt_eagle_legacy_driver_default:
$(call cmake-build,$@)
diff --git a/posix-configs/eagle/hil/px4.config b/posix-configs/eagle/hil/px4.config
index 8b626bd322..e446ad144e 100644
--- a/posix-configs/eagle/hil/px4.config
+++ b/posix-configs/eagle/hil/px4.config
@@ -1,16 +1,12 @@
uorb start
+qshell start
param set CAL_GYRO0_ID 2293760
param set CAL_ACC0_ID 1310720
param set CAL_ACC1_ID 1376256
param set CAL_MAG0_ID 196608
-commander start -hil
-sensors start
-attitude_estimator_q start
-position_estimator_inav start
-mc_pos_control start
-mc_att_control start
-sleep 1
-pwm_out_sim mode_pwm
+param set SYS_AUTOSTART 4001
+param set SYS_AUTOCONFIG 1
+param set MAV_TYPE 2
param set RC1_MAX 2015
param set RC1_MIN 996
param set RC1_TRIM 1502
@@ -42,7 +38,15 @@ param set ATT_W_ACC 0.0002
param set ATT_W_MAG 0.002
param set ATT_W_GYRO_BIAS 0.05
sleep 1
-param set MAV_TYPE 2
+commander start -hil
+sensors start
+attitude_estimator_q start
+position_estimator_inav start
+mc_pos_control start
+mc_att_control start
+land_detector start multicopter
+sleep 1
+pwm_out_sim mode_pwm
mixer load /dev/pwm_output0 /startup/quad_x.main.mix
list_devices
list_files
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index d61805f9aa..e472298bba 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1157,7 +1157,7 @@ int commander_thread_main(int argc, char *argv[])
#endif
if (argc > 2) {
- if (!strcmp(argv[3],"-hil")) {
+ if (!strcmp(argv[2],"-hil")) {
startup_in_hil = true;
} else {
PX4_ERR("Argument %s not supported.", argv[3]);
--
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