# set moddebug 2 module load graph @graph timespan 30 @alias add minscore remote camera set minscore @alias add minscore2 remote camera set minscore2 @alias add movejoe wp movemulti 22 15 27 @alias add joedropdist wp param 22 2 @alias add wpedit module load misseditor @alias add terminate param set AFS_TERMINATE @alias add termaction param set AFS_TERM_ACTION @alias add drop servo set 8 1500 @alias add hold servo set 8 900 @alias add bdrop servo set 8 1500 @alias add bhold servo set 8 1000 @alias add drop2 servo set 6 1050 @alias add hold2 servo set 6 1480 @alias add odroidpower relay set 0 @alias add neutral2 servo set 12 1500 @alias add ekf param set AHRS_EKF_USE @alias add bb status gps* scaled* raw* @alias add g graph @alias add grc3 g RC_CHANNELS.chan3_raw SERVO_OUTPUT_RAW.servo3_raw @alias add grc25 g RC_CHANNELS.chan2_raw SERVO_OUTPUT_RAW.servo2_raw SERVO_OUTPUT_RAW.servo5_raw @alias add gflaperon g SERVO_OUTPUT_RAW.servo1_raw SERVO_OUTPUT_RAW.servo7_raw SERVO_OUTPUT_RAW.servo8_raw @alias add gtracker g wrap_360(degrees(ATTITUDE.yaw)) NAV_CONTROLLER_OUTPUT.target_bearing degrees(ATTITUDE.pitch) NAV_CONTROLLER_OUTPUT.nav_pitch @alias add gtrackerror g angle_diff(degrees(ATTITUDE.yaw),NAV_CONTROLLER_OUTPUT.target_bearing) angle_diff(degrees(ATTITUDE.pitch),NAV_CONTROLLER_OUTPUT.nav_pitch) @alias add gaccel g RAW_IMU.xacc*9.81*0.001 RAW_IMU.yacc*9.81*0.001 RAW_IMU.zacc*9.81*0.001 gravity(RAW_IMU) @alias add gaccelcmp g RAW_IMU.xacc*9.81*0.001 RAW_IMU.yacc*9.81*0.001 RAW_IMU.zacc*9.81*0.001 SCALED_IMU2.xacc*9.81*0.001 SCALED_IMU2.yacc*9.81*0.001 SCALED_IMU2.zacc*9.81*0.001 @alias add gaccelcmp3 g RAW_IMU.xacc*9.81*0.001 RAW_IMU.yacc*9.81*0.001 RAW_IMU.zacc*9.81*0.001 SCALED_IMU2.xacc*9.81*0.001 SCALED_IMU2.yacc*9.81*0.001 SCALED_IMU2.zacc*9.81*0.001 SCALED_IMU3.xacc*9.81*0.001 SCALED_IMU3.yacc*9.81*0.001 SCALED_IMU3.zacc*9.81*0.001 @alias add gaccel2 g SCALED_IMU2.xacc*9.81*0.001 SCALED_IMU2.yacc*9.81*0.001 SCALED_IMU2.zacc*9.81*0.001 gravity(SCALED_IMU2) @alias add gaccel3 g SCALED_IMU3.xacc*9.81*0.001 SCALED_IMU3.yacc*9.81*0.001 SCALED_IMU3.zacc*9.81*0.001 gravity(SCALED_IMU3) @alias add gaccelxy g RAW_IMU.xacc*9.81*0.001 RAW_IMU.yacc*9.81*0.001 @alias add gaccelz_filter g RAW_IMU.zacc*9.81*0.001 lowpass(RAW_IMU.zacc*9.81*0.001,"z",0.9) @alias add ggyro g degrees(RAW_IMU.xgyro*0.001) degrees(RAW_IMU.ygyro*0.001) degrees(RAW_IMU.zgyro*0.001) @alias add ggyrocmp g degrees(RAW_IMU.xgyro*0.001) degrees(RAW_IMU.ygyro*0.001) degrees(RAW_IMU.zgyro*0.001) degrees(SCALED_IMU2.xgyro*0.001) degrees(SCALED_IMU2.ygyro*0.001) degrees(SCALED_IMU2.zgyro*0.001) @alias add ggyro2 g degrees(SCALED_IMU2.xgyro*0.001) degrees(SCALED_IMU2.ygyro*0.001) degrees(SCALED_IMU2.zgyro*0.001) @alias add ggyro_earth g earth_gyro(RAW_IMU,ATTITUDE).x earth_gyro(RAW_IMU,ATTITUDE).y earth_gyro(RAW_IMU,ATTITUDE).z @alias add grp g degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) @alias add grpsim g degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) degrees(SIMSTATE.roll) degrees(SIMSTATE.pitch) @alias add ignitioncut rc 7 1000 @alias add ignitionon rc 7 2000 @alias add gsim g degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) degrees(ATTITUDE.yaw) degrees(SIMSTATE.roll) degrees(SIMSTATE.pitch) degrees(SIMSTATE.yaw) @alias add gsimahrs2 g degrees(AHRS2.roll) degrees(AHRS2.pitch) degrees(AHRS2.yaw) degrees(SIMSTATE.roll) degrees(SIMSTATE.pitch) degrees(SIMSTATE.yaw) @alias add gahrs2 g degrees(AHRS2.roll) degrees(AHRS2.pitch) degrees(AHRS2.yaw) degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) degrees(ATTITUDE.yaw) @alias add gahrs2rp g degrees(AHRS2.roll) degrees(AHRS2.pitch) degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) @alias add gahrs3 g degrees(AHRS3.roll) degrees(AHRS3.pitch) degrees(AHRS3.yaw) degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) degrees(ATTITUDE.yaw) @alias add gahrs2rp g degrees(AHRS2.roll) degrees(AHRS2.pitch) degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) @alias add gahrsanuroll g degrees(ATTITUDE.roll) degrees(AHRS2.roll) degrees(AHRS3.roll) @alias add gahrsanupitch g degrees(ATTITUDE.pitch) degrees(AHRS2.pitch) degrees(AHRS3.pitch) @alias add gcmppitch g degrees(SIMSTATE.pitch) degrees(ATTITUDE.pitch) degrees(AHRS2.pitch) @alias add gcmproll g degrees(SIMSTATE.roll) degrees(ATTITUDE.roll) degrees(AHRS2.roll) @alias add grollp g NAV_CONTROLLER_OUTPUT.nav_roll-degrees(ATTITUDE.roll) (SERVO_OUTPUT_RAW.servo1_raw-MAV.params['RC1_TRIM'])*0.1 @alias add gradio g RADIO.rssi RADIO.noise RADIO.remrssi RADIO.remnoise @alias add gbatt g SYS_STATUS.current_battery @alias add gnavroll g NAV_CONTROLLER_OUTPUT.nav_roll-degrees(ATTITUDE.roll) (SERVO_OUTPUT_RAW.servo1_raw-MAV.params['RC1_TRIM'])*0.1 @alias add gcontrol g RC_CHANNELS.chan1_raw RC_CHANNELS.chan2_raw SERVO_OUTPUT_RAW.servo1_raw SERVO_OUTPUT_RAW.servo2_raw @alias add gmag g RAW_IMU.xmag RAW_IMU.ymag RAW_IMU.zmag mag_field(RAW_IMU) @alias add gmagcmp g RAW_IMU.xmag RAW_IMU.ymag RAW_IMU.zmag SCALED_IMU2.xmag SCALED_IMU2.ymag SCALED_IMU2.zmag @alias add gmagcmp3 g RAW_IMU.xmag RAW_IMU.ymag RAW_IMU.zmag SCALED_IMU2.xmag SCALED_IMU2.ymag SCALED_IMU2.zmag SCALED_IMU3.xmag SCALED_IMU3.ymag SCALED_IMU3.zmag @alias add gmag2 g SCALED_IMU2.xmag SCALED_IMU2.ymag SCALED_IMU2.zmag mag_field(SCALED_IMU2) @alias add gmag3 g SCALED_IMU3.xmag SCALED_IMU3.ymag SCALED_IMU3.zmag mag_field(SCALED_IMU3) @alias add gmagfield g mag_field(RAW_IMU) @alias add gmagofs g SENSOR_OFFSETS.mag_ofs_x SENSOR_OFFSETS.mag_ofs_y SENSOR_OFFSETS.mag_ofs_z @alias add gservo g SERVO_OUTPUT_RAW.servo1_raw SERVO_OUTPUT_RAW.servo2_raw SERVO_OUTPUT_RAW.servo3_raw SERVO_OUTPUT_RAW.servo4_raw @alias add gservo6 g SERVO_OUTPUT_RAW.servo1_raw SERVO_OUTPUT_RAW.servo2_raw SERVO_OUTPUT_RAW.servo3_raw SERVO_OUTPUT_RAW.servo4_raw SERVO_OUTPUT_RAW.servo5_raw SERVO_OUTPUT_RAW.servo6_raw @alias add gservo8 g SERVO_OUTPUT_RAW.servo1_raw SERVO_OUTPUT_RAW.servo2_raw SERVO_OUTPUT_RAW.servo3_raw SERVO_OUTPUT_RAW.servo4_raw SERVO_OUTPUT_RAW.servo5_raw SERVO_OUTPUT_RAW.servo6_raw SERVO_OUTPUT_RAW.servo7_raw SERVO_OUTPUT_RAW.servo8_raw @alias add gservo12 g SERVO_OUTPUT_RAW.servo1_raw SERVO_OUTPUT_RAW.servo2_raw @alias add gthr g VFR_HUD.throttle @alias add ggs g VFR_HUD.groundspeed @alias add grc g RC_CHANNELS.chan1_raw RC_CHANNELS.chan2_raw RC_CHANNELS.chan3_raw RC_CHANNELS.chan4_raw RC_CHANNELS.chan5_raw RC_CHANNELS.chan6_raw RC_CHANNELS.chan7_raw RC_CHANNELS.chan8_raw @alias add grc4 g RC_CHANNELS.chan1_raw RC_CHANNELS.chan2_raw RC_CHANNELS.chan3_raw RC_CHANNELS.chan4_raw @alias add grc12 g RC_CHANNELS.chan1_raw RC_CHANNELS.chan2_raw @alias add galt g GLOBAL_POSITION_INT.relative_alt*0.001 altitude(SCALED_PRESSURE) @alias add gpress g SCALED_PRESSURE.press_abs @alias add gclimb g lowpass(delta(altitude(SCALED_PRESSURE),"a"),"a2",0.9) VFR_HUD.climb GLOBAL_POSITION_INT.vz*0.01 @alias add gvz g GLOBAL_POSITION_INT.vz*0.01 @alias add ghead g VFR_HUD.heading mag_heading(RAW_IMU,ATTITUDE) @alias add gnavrp g NAV_CONTROLLER_OUTPUT.nav_roll NAV_CONTROLLER_OUTPUT.nav_pitch degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) @alias add gspeed g VFR_HUD.groundspeed @alias add gthr g VFR_HUD.throttle @alias add galterr g NAV_CONTROLLER_OUTPUT.alt_error @alias add gtargetalt g GLOBAL_POSITION_INT.relative_alt*0.001+NAV_CONTROLLER_OUTPUT.alt_error @alias add gthrpitch g VFR_HUD.throttle NAV_CONTROLLER_OUTPUT.nav_pitch @alias add gsteer g NAV_CONTROLLER_OUTPUT.nav_roll NAV_CONTROLLER_OUTPUT.nav_pitch @alias add gspeed g VFR_HUD.airspeed VFR_HUD.groundspeed @alias add ggpst g min(abs(diff(GPS_RAW_INT.time_usec*1.0e-6,"d")),3) @alias add gload g SYS_STATUS.load @alias add grate g 1000.0/diff(ATTITUDE.time_boot_ms,"a") @alias add ggpsrate g 1.0e6/diff(GPS_RAW_INT.time_usec,"g") @alias add grange g rangefinder_roll(RANGEFINDER,ATTITUDE,maxdist=39.5) GLOBAL_POSITION_INT.relative_alt*0.001 @alias add grangealt g RANGEFINDER.distance GLOBAL_POSITION_INT.relative_alt*0.001 @alias add grangev g RANGEFINDER.voltage @alias add gahrserr g AHRS.error_rp AHRS.error_yaw @alias add gage g GPS2_RAW.dgps_age @alias add gomega g degrees(AHRS.omegaIx) degrees(AHRS.omegaIy) degrees(AHRS.omegaIz) # jonos farm # #[9:38 PM] (Channel) Jono: These are very rough estimates, I'm not entirely sure how far north the boundry extends, but the south side is relatively true #SE -34.671287° 150.599052° #SW -34.669365° 150.590907° # #[9:38 PM] (Channel) Jono: aaand north #[9:39 PM] (Channel) Jono: NW -34.666365° 150.594070° #NE -34.667936° 150.602835° # #map icon -34.668400 150.597192 # Geoff Kemp farm #map icon -34.946217 149.201569 # ANU Spring Farm Valley # map icon -35.2869,149.0097 @alias add uwa map icon -31.979968 115.817737 @alias add hil10 map icon -31.82552913 115.73857757 @alias add d1 wp show /home/tridge/project/UAV/WP/UWA-test2.txt @alias add d2 map icon -31.979968 115.817737 @alias add d3 map icon -31.82552913 115.73857757 # joe pos at CMAC @alias add joe1 map icon -35.362779 149.164248 barrell @alias add joe2 map icon -35.363131 149.164166 barrell @alias add gtakeoff graph VFR_HUD.airspeed NAV_CONTROLLER_OUTPUT.nav_pitch NAV_CONTROLLER_OUTPUT.alt_error NAV_CONTROLLER_OUTPUT.aspd_error*0.01 @alias add c1 map icon -35.362502 149.162008 barrell @alias add c2 map icon -35.363762 149.161739 barrell @alias add c3 map icon -35.363772 149.161809 barrell @alias add c4 map icon -35.365500 149.162207 barrell @alias add c5 map icon -35.364812 149.164150 barrell @alias add c6 map icon -35.365643 149.164326 barrell @alias add ggimbal g degrees(GIMBAL_REPORT.joint_yaw) degrees(GIMBAL_REPORT.joint_roll) degrees(GIMBAL_REPORT.joint_pitch) @alias add grpy312 g degrees(euler312(ATTITUDE).x) degrees(euler312(ATTITUDE).y) degrees(euler312(ATTITUDE).z) @alias add gimutime g RAW_IMU.time_usec*1.0e-6 @alias add gekf g EKF_STATUS_REPORT.velocity_variance EKF_STATUS_REPORT.pos_horiz_variance EKF_STATUS_REPORT.pos_vert_variance EKF_STATUS_REPORT.compass_variance @alias add gsimgyro g degrees(SIMSTATE.xgyro) degrees(SIMSTATE.ygyro) degrees(SIMSTATE.zgyro) degrees(RAW_IMU.xgyro*0.001) degrees(RAW_IMU.ygyro*0.001) degrees(RAW_IMU.zgyro*0.001) @alias add gsimaccel g SIMSTATE.xacc SIMSTATE.yacc SIMSTATE.zacc RAW_IMU.xacc*9.81*0.001 RAW_IMU.yacc*9.81*0.001 RAW_IMU.zacc*9.81*0.001 @alias add gspeedup g lowpass(delta(RAW_IMU.time_usec*1.0e-6,"i"),"l",0.9) @alias add gysim g degrees(SIMSTATE.yaw) degrees(ATTITUDE.yaw) @alias add wp-cmac wp load ../Tools/autotest/Generic_Missions/CMAC-circuit.txt #graph SERVO_OUTPUT_RAW.servo8_raw # module load mavgraph #@alias add x mavgraph ds add /home/pbarker/196.BIN #@alias add y mavgraph graph ATT.Roll #@alias add z mavgraph graph ATT.Pitch # set state_basedir /home/pbarker/rc/flight-data set moddebug 3 #module load dataflash_logger #dataflash_logger set verbose true #module load logger #logger set verbose true #logger set target_component 155 #module load map #module load console #module load speech #module load avoidance #module load cesium # repeat add 1 status ADSB_VEHICLE #module load loganalyzer #module load example module load msg alias add fence-dalby fence load /home/pbarker/rc/ardupilot/Tools/autotest/ArduPlane-Missions/Dalby-OBC2016-fence.txt # alias add wp-dalby wp load /home/pbarker/rc/ardupilot/Tools/autotest/ArduPlane-Missions/Dalby-OBC2016.txt alias add wp-dalby wp load /home/pbarker/rc/cuav/script/OBC2016/mission-plane.txt alias add wp-dalby-heli wp load /home/pbarker/rc/cuav/script/OBC2016/mission-heli.txt #wpedit #module load esp alias add grcall graph RC_CHANNELS.chan1_raw RC_CHANNELS.chan2_raw RC_CHANNELS.chan3_raw RC_CHANNELS.chan4_raw RC_CHANNELS.chan5_raw RC_CHANNELS.chan6_raw RC_CHANNELS.chan7_raw RC_CHANNELS.chan8_raw RC_CHANNELS.chan9_raw RC_CHANNELS.chan10_raw RC_CHANNELS.chan11_raw RC_CHANNELS.chan12_raw alias add grchigh graph SERVO_OUTPUT_RAW.servo7_raw SERVO_OUTPUT_RAW.servo8_raw SERVO_OUTPUT_RAW.servo9_raw SERVO_OUTPUT_RAW.servo10_raw SERVO_OUTPUT_RAW.servo11_raw SERVO_OUTPUT_RAW.servo12_raw #graph degrees(ATTITUDE.yaw) wrap_180(NAV_CONTROLLER_OUTPUT.target_bearing) #module load nsh #gmag #module load joystick #module load mmap #graph degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) #module load videoscript #avs set trigger_channel 7 module load devop alias add old devop read i2c bob 0 0x52 0xc0 1 alias add newx devop i2c read 0 0x55 0 16 alias add new devop i2c read 1 0x1e 0x00 1 alias add i2cscan devop i2c scan 1 alias add spiread devop spi read mpu6000 0xf5 1 # DEVOP: 0x1e: 0 # module load ublox #module load console #module load video #alias add o long DO_SEND_BANNER #module load message # set speech en+us-f3 alias add bob long set_message_interval # graph diff(ATTITUDE.time_boot_ms,0) # long SET_MESSAGE_INTERVAL 30 100000