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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,72 @@ | ||
| uorb start | ||
| simulator start -s | ||
| param load | ||
| param set MAV_TYPE 2 | ||
| param set MC_PITCHRATE_P 0.3 | ||
| param set MC_ROLLRATE_P 0.3 | ||
| param set MC_YAW_P 2.0 | ||
| param set MC_YAWRATE_P 0.35 | ||
| param set SYS_AUTOSTART 4010 | ||
| param set SYS_RESTART_TYPE 2 | ||
| dataman start | ||
| param set CAL_GYRO0_ID 2293768 | ||
| param set CAL_ACC0_ID 1376264 | ||
| param set CAL_ACC1_ID 1310728 | ||
| param set CAL_MAG0_ID 196616 | ||
| param set CAL_GYRO0_XOFF 0.01 | ||
| param set CAL_ACC0_XOFF 0.01 | ||
| param set CAL_ACC0_YOFF -0.01 | ||
| param set CAL_ACC0_ZOFF 0.01 | ||
| param set CAL_ACC0_XSCALE 1.01 | ||
| param set CAL_ACC0_YSCALE 1.01 | ||
| param set CAL_ACC0_ZSCALE 1.01 | ||
| param set CAL_ACC1_XOFF 0.01 | ||
| param set CAL_MAG0_XOFF 0.01 | ||
| param set MPC_XY_P 0.15 | ||
| param set MPC_XY_VEL_P 0.05 | ||
| param set MPC_XY_VEL_D 0.005 | ||
| param set MPC_XY_FF 0.1 | ||
| param set SENS_BOARD_ROT 8 | ||
| param set COM_RC_IN_MODE 1 | ||
| param set NAV_ACC_RAD 2.0 | ||
| param set RTL_RETURN_ALT 30.0 | ||
| param set RTL_DESCEND_ALT 10.0 | ||
|
|
||
| # changes for LPE | ||
| param set COM_RC_IN_MODE 1 | ||
| param set LPE_BETA_MAX 10000 | ||
|
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||
| rgbledsim start | ||
| tone_alarm start | ||
| gyrosim start | ||
| accelsim start | ||
| barosim start | ||
| adcsim start | ||
| gpssim start | ||
| pwm_out_sim mode_pwm | ||
| sleep 1 | ||
| sensors start | ||
| commander start | ||
| land_detector start multicopter | ||
| navigator start | ||
| attitude_estimator_q start | ||
| position_estimator_inav start | ||
| mc_pos_control start | ||
| mc_att_control start | ||
| mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_w.main.mix | ||
| mavlink start -u 14556 -r 2000000 | ||
| mavlink start -u 14557 -r 2000000 -m onboard -o 14540 | ||
| mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 | ||
| mavlink stream -r 80 -s LOCAL_POSITION_NED_COV -u 14556 | ||
| mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556 | ||
| mavlink stream -r 80 -s ATTITUDE -u 14556 | ||
| mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556 | ||
| mavlink stream -r 20 -s RC_CHANNELS -u 14556 | ||
| mavlink stream -r 250 -s HIGHRES_IMU -u 14556 | ||
| mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556 | ||
| mavlink boot_complete | ||
| sdlog2 start -r 100 -e -t -a | ||
|
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||
| # start LPE at end, when we know it is ok to init sensors | ||
| sleep 5 | ||
| local_position_estimator start |