uorb start
qshell start
param set CAL_GYRO0_ID 100
param set CAL_ACC0_ID 100
param set CAL_MAG0_ID 101
param set SYS_AUTOSTART 4001
param set MAV_TYPE 2
param set MC_YAW_P 12
param set MC_YAWRATE_P 0.08
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.08
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.001
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.08
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.001
param set RC_MAP_THROTTLE 1
param set RC_MAP_ROLL 2
param set RC_MAP_PITCH 3
param set RC_MAP_YAW 4
param set RC_MAP_MODE_SW 5
param set RC_MAP_POSCTL_SW 6
param set RC1_MAX 1900
param set RC1_MIN 1099
param set RC1_TRIM 1099
param set RC1_REV 1
param set RC2_MAX 1900
param set RC2_MIN 1099
param set RC2_TRIM 1500
param set RC2_REV -1
param set RC3_MAX 1900
param set RC3_MIN 1099
param set RC3_TRIM 1500
param set RC3_REV 1
param set RC4_MAX 1900
param set RC4_MIN 1099
param set RC4_TRIM 1500
param set RC4_REV -1
param set RC5_MAX 1900
param set RC5_MIN 1099
param set RC5_TRIM 1500
param set RC5_REV 1
param set RC6_MAX 1900
param set RC6_MIN 1099
param set RC6_TRIM 1099
param set RC6_REV 1
param set ATT_W_MAG 0.00
param set SENS_BOARD_ROT 4
param set CAL_GYRO0_XOFF -0.0028
param set CAL_GYRO0_YOFF -0.0047
param set CAL_GYRO0_ZOFF -0.0034
param set CAL_GYRO0_XSCALE 1.0000
param set CAL_GYRO0_YSCALE 1.0000
param set CAL_GYRO0_ZSCALE 1.0000
param set CAL_MAG0_XOFF 0.0000
param set CAL_MAG0_YOFF 0.0000
param set CAL_MAG0_ZOFF 0.0000
param set CAL_MAG0_XSCALE 1.0000
param set CAL_MAG0_YSCALE 1.0000
param set CAL_MAG0_ZSCALE 1.0000
param set CAL_ACC0_XOFF -0.0941
param set CAL_ACC0_YOFF 0.1168
param set CAL_ACC0_ZOFF -0.0398
param set CAL_ACC0_XSCALE 1.0004
param set CAL_ACC0_YSCALE 0.9974
param set CAL_ACC0_ZSCALE 0.9951
param set RC_RECEIVER_TYPE 1
param set UART_ESC_MODEL 2
param set UART_ESC_BAUD 250000
param set UART_ESC_MOTOR1 4
param set UART_ESC_MOTOR2 2
param set UART_ESC_MOTOR3 1
param set UART_ESC_MOTOR4 3
sleep 1
df_mpu9250_wrapper start
df_bmp280_wrapper start
sensors start
commander start
ekf2 start
land_detector start multicopter
mc_pos_control start
mc_att_control start
uart_esc start -D /dev/tty-1
rc_receiver start -D /dev/tty-101
sleep 1
list_devices
list_files
list_tasks
list_topics