forked from Archive/PX4-Autopilot
93 lines
2.6 KiB
Plaintext
93 lines
2.6 KiB
Plaintext
uorb start
|
|
param load
|
|
param set MAV_TYPE 22
|
|
param set VT_TYPE 2
|
|
param set VT_MOT_COUNT 4
|
|
param set VT_TRANS_THR 0.75
|
|
param set SYS_AUTOSTART 13006
|
|
param set SYS_RESTART_TYPE 2
|
|
param set SYS_MC_EST_GROUP 1
|
|
dataman start
|
|
param set BAT_N_CELLS 3
|
|
param set CAL_GYRO0_ID 2293768
|
|
param set CAL_ACC0_ID 1376264
|
|
param set CAL_ACC1_ID 1310728
|
|
param set CAL_MAG0_ID 196616
|
|
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 MC_ROLLRATE_P 0.3
|
|
param set MC_PITCHRATE_P 0.2
|
|
param set MC_PITCH_P 6
|
|
param set MC_ROLL_P 6
|
|
param set MPC_XY_P 0.5
|
|
param set MPC_ACC_HOR_MAX 1.0
|
|
param set MPC_XY_VEL_P 0.1
|
|
param set MPC_XY_VEL_I 0.1
|
|
param set MPC_XY_VEL_D 0.005
|
|
param set MPC_Z_VEL_MAX_DN 1.5
|
|
param set MPC_Z_VEL_P 0.6
|
|
param set MPC_Z_VEL_I 0.15
|
|
param set FW_AIRSPD_MIN 14
|
|
param set FW_AIRSPD_TRIM 16
|
|
param set FW_AIRSPD_MAX 25
|
|
param set SENS_BOARD_ROT 0
|
|
param set SENS_DPRES_OFF 0.001
|
|
param set SENS_BOARD_X_OFF 0.000001
|
|
param set COM_RC_IN_MODE 1
|
|
param set NAV_DLL_ACT 2
|
|
param set NAV_ACC_RAD 5.0
|
|
param set NAV_LOITER_RAD 50
|
|
param set MPC_TKO_SPEED 1.0
|
|
param set MIS_LTRMIN_ALT 10
|
|
param set MIS_TAKEOFF_ALT 10
|
|
param set MIS_YAW_TMT 10
|
|
param set RTL_RETURN_ALT 30.0
|
|
param set RTL_DESCEND_ALT 10.0
|
|
param set RTL_LAND_DELAY 0
|
|
param set COM_DISARM_LAND 5
|
|
param set MPC_ACC_HOR_MAX 2
|
|
replay tryapplyparams
|
|
simulator start -s
|
|
tone_alarm start
|
|
gyrosim start
|
|
accelsim start
|
|
barosim start
|
|
adcsim start
|
|
gpssim start
|
|
measairspeedsim start
|
|
pwm_out_sim mode_pwm
|
|
sensors start
|
|
commander start
|
|
land_detector start vtol
|
|
navigator start
|
|
attitude_estimator_q start
|
|
local_position_estimator start
|
|
vtol_att_control start
|
|
mc_pos_control start
|
|
mc_att_control start
|
|
fw_pos_control_l1 start
|
|
fw_att_control start
|
|
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
|
|
mavlink start -x -u 14556 -r 2000000
|
|
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
|
|
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14540
|
|
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_QUATERNION -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
|
|
logger start -e -t
|
|
mavlink boot_complete
|
|
replay trystart
|