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POSIX: Fix SITL startup script

This commit is contained in:
Lorenz Meier 2015-06-19 10:44:36 -07:00
parent 468e233ebe
commit bf24d42a79
1 changed files with 13 additions and 25 deletions
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38
posix-configs/SITL/init/rcS
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@ -1,5 +1,8 @@
uorb start
param load
param set MAV_TYPE 2
param set MC_PITCHRATE_P 0.05
param set MC_ROLLRATE_P 0.05
dataman start
mavlink start -u 14556 -r 60000
simulator start -s
@ -7,6 +10,15 @@ param set CAL_GYRO0_ID 2293760
param set CAL_ACC0_ID 1310720
param set CAL_ACC1_ID 1376256
param set CAL_MAG0_ID 196608
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
rgbled start
tone_alarm start
gyrosim start
@ -14,34 +26,10 @@ accelsim start
barosim start
adcsim start
gpssim start
hil mode_pwm
commander start
sensors start
ekf_att_pos_estimator start
mc_pos_control start
mc_att_control start
hil mode_pwm
param set MAV_TYPE 2
param set RC1_MAX 2015
param set RC1_MIN 996
param set RC1_TRIM 1502
param set RC1_REV -1
param set RC2_MAX 2016
param set RC2_MIN 995
param set RC2_TRIM 1500
param set RC3_MAX 2003
param set RC3_MIN 992
param set RC3_TRIM 992
param set RC4_MAX 2011
param set RC4_MIN 997
param set RC4_TRIM 1504
param set RC4_REV -1
param set RC6_MAX 2016
param set RC6_MIN 992
param set RC6_TRIM 1504
param set RC_CHAN_CNT 8
param set RC_MAP_MODE_SW 5
param set RC_MAP_POSCTL_SW 7
param set RC_MAP_RETURN_SW 8
param set MC_PITCHRATE_P 0.05
param set MC_ROLLRATE_P 0.05
mixer load /dev/pwm_output0 ../../ROMFS/px4fmu_common/mixers/quad_x.main.mix