From 4241e526aac9fad483949ce6b7cf03597acbd9b6 Mon Sep 17 00:00:00 2001
From: jgoppert <james.goppert@gmail.com>
Date: Mon, 26 Oct 2015 16:03:22 -0400
Subject: [PATCH] Updated sitl scripts for LPE.

---
 Tools/sitl_run.sh                             |  2 +-
 posix-configs/SITL/init/rcS_lpe_gazebo        | 66 +++++++++++++++++++
 .../SITL/init/{rcS_lpe => rcS_lpe_jmavsim}    |  0
 3 files changed, 67 insertions(+), 1 deletion(-)
 create mode 100644 posix-configs/SITL/init/rcS_lpe_gazebo
 rename posix-configs/SITL/init/{rcS_lpe => rcS_lpe_jmavsim} (100%)

diff --git a/Tools/sitl_run.sh b/Tools/sitl_run.sh
index fff0080ca9..6eb69eb46b 100755
--- a/Tools/sitl_run.sh
+++ b/Tools/sitl_run.sh
@@ -38,7 +38,7 @@ then
 	cd Tools/jMAVSim
 	ant
 	java -Djava.ext.dirs= -cp lib/*:out/production/jmavsim.jar me.drton.jmavsim.Simulator -udp 127.0.0.1:14560 &
-	SIM_PID=echo $!
+	SIM_PID=`echo $!`
 elif [ "$3" == "gazebo" ]
 then
 	if [ -x "$(command -v gazebo)" ]
diff --git a/posix-configs/SITL/init/rcS_lpe_gazebo b/posix-configs/SITL/init/rcS_lpe_gazebo
new file mode 100644
index 0000000000..6093991c13
--- /dev/null
+++ b/posix-configs/SITL/init/rcS_lpe_gazebo
@@ -0,0 +1,66 @@
+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 2293760
+param set CAL_ACC0_ID 1376256
+param set CAL_ACC1_ID 1310720
+param set CAL_MAG0_ID 196608
+param set CAL_GYRO0_XOFF 0.01
+param set CAL_ACC0_XOFF 1
+param set CAL_ACC0_YOFF 2
+param set CAL_ACC0_ZOFF 3
+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
+
+# changes for LPE
+param set COM_RC_IN_MODE 1
+param set LPE_BETA_MAX 10000
+
+rgbled 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
+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 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
+
+# start LPE at end, when we know it is ok to init sensors
+sleep 5
+local_position_estimator start
diff --git a/posix-configs/SITL/init/rcS_lpe b/posix-configs/SITL/init/rcS_lpe_jmavsim
similarity index 100%
rename from posix-configs/SITL/init/rcS_lpe
rename to posix-configs/SITL/init/rcS_lpe_jmavsim