forked from Archive/PX4-Autopilot
89 lines
2.4 KiB
Plaintext
89 lines
2.4 KiB
Plaintext
uorb start
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param load
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param set MAV_TYPE 20
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param set VT_TYPE 2
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param set SYS_AUTOSTART 4010
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param set SYS_RESTART_TYPE 2
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dataman start
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param set BAT_N_CELLS 3
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param set CAL_GYRO0_ID 2293768
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param set CAL_ACC0_ID 1376264
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param set CAL_ACC1_ID 1310728
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param set CAL_MAG0_ID 196616
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param set CAL_GYRO0_XOFF 0.01
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param set CAL_ACC0_XOFF 0.01
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param set CAL_ACC0_YOFF -0.01
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param set CAL_ACC0_ZOFF 0.01
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param set CAL_ACC0_XSCALE 1.01
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param set CAL_ACC0_YSCALE 1.01
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param set CAL_ACC0_ZSCALE 1.01
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param set CAL_ACC1_XOFF 0.01
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param set CAL_MAG0_XOFF 0.01
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param set MC_ROLLRATE_P 0.3
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param set MC_PITCHRATE_P 0.2
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param set MC_PITCH_P 6
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param set MC_ROLL_P 6
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param set MPC_XY_P 0.8
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param set MPC_ACC_HOR_MAX 2.0
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param set MPC_XY_VEL_P 0.15
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param set MPC_XY_VEL_I 0.2
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param set MPC_XY_VEL_D 0.005
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param set MPC_XY_FF 0.1
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param set MPC_Z_VEL_MAX 1.5
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param set MPC_Z_VEL_P 0.6
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param set MPC_Z_VEL_I 0.15
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param set SENS_BOARD_ROT 0
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param set SENS_DPRES_OFF 0.001
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param set SENS_BOARD_X_OFF 0.000001
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param set COM_RC_IN_MODE 1
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param set NAV_DLL_ACT 2
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param set NAV_ACC_RAD 3.0
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param set MPC_TKO_SPEED 1.0
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param set MIS_YAW_TMT 10
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param set RTL_RETURN_ALT 30.0
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param set RTL_DESCEND_ALT 10.0
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param set RTL_LAND_DELAY 0
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param set COM_DISARM_LAND 5
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param set COM_DL_LOSS_EN 1
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param set MPC_ACC_HOR_MAX 2
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param set EKF2_GBIAS_INIT 0.01
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param set EKF2_ANGERR_INIT 0.01
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param set EKF2_MAG_TYPE 1
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replay tryapplyparams
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simulator start -s
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rgbledsim start
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tone_alarm start
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gyrosim start
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accelsim start
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barosim start
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adcsim start
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gpssim start
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measairspeedsim start
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pwm_out_sim mode_pwm
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sleep 1
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sensors start
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commander start
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land_detector start multicopter
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navigator start
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ekf2 start
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vtol_att_control start
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mc_pos_control start
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mc_att_control start
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fw_pos_control_l1 start
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fw_att_control start
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mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
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mavlink start -u 14556 -r 2000000
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mavlink start -u 14557 -r 2000000 -m onboard -o 14540
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mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
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mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
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mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
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mavlink stream -r 80 -s ATTITUDE -u 14556
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mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
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mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
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mavlink stream -r 20 -s RC_CHANNELS -u 14556
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mavlink stream -r 250 -s HIGHRES_IMU -u 14556
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mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
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sdlog2 start -r 200 -e -t -a
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mavlink boot_complete
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replay trystart
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