From c9a3b7b9b0e2765accc56d59a15014748a0b2ecb Mon Sep 17 00:00:00 2001
From: tumbili <bapstr@ethz.ch>
Date: Sat, 17 Oct 2015 13:30:44 +0200
Subject: [PATCH] added config file SITL iris with gazebo

---
 Makefile                                |  3 ++
 posix-configs/SITL/init/rcS_iris_gazebo | 59 +++++++++++++++++++++++++
 2 files changed, 62 insertions(+)
 create mode 100644 posix-configs/SITL/init/rcS_iris_gazebo

diff --git a/Makefile b/Makefile
index e2f1814f0c..bb5d915f7c 100644
--- a/Makefile
+++ b/Makefile
@@ -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
 
diff --git a/posix-configs/SITL/init/rcS_iris_gazebo b/posix-configs/SITL/init/rcS_iris_gazebo
new file mode 100644
index 0000000000..ca5415d110
--- /dev/null
+++ b/posix-configs/SITL/init/rcS_iris_gazebo
@@ -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