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added config file SITL iris with gazebo

This commit is contained in:
tumbili 2015-10-17 13:30:44 +02:00
parent 507f4d8df5
commit c9a3b7b9b0
2 changed files with 62 additions and 0 deletions
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3
Makefile
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@ -132,6 +132,9 @@ ros: ros_sitl_simple
run_sitl_quad: posix
Tools/sitl_run.sh posix-configs/SITL/init/rcS
run_sitl_iris: posix
Tools/sitl_run.sh posix-configs/SITL/init/rcS_iris_gazebo
run_sitl_plane: posix
Tools/sitl_run.sh posix-configs/SITL/init/rc.fixed_wing

59
posix-configs/SITL/init/rcS_iris_gazebo Normal file
View File

@ -0,0 +1,59 @@
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 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 2
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
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 stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 80 -s LOCAL_POSITION_NED -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