forked from Archive/PX4-Autopilot
70 lines
1.9 KiB
Plaintext
70 lines
1.9 KiB
Plaintext
uorb start
|
|
simulator start -s
|
|
param load
|
|
param set MAV_TYPE 2
|
|
param set MC_PITCHRATE_P 0.15
|
|
param set MC_ROLLRATE_P 0.15
|
|
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
|
|
param set COM_RC_IN_MODE 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 0.4
|
|
param set MPC_XY_VEL_P 0.2
|
|
param set MPC_XY_VEL_D 0.005
|
|
param set MPP_XY_P 1.0
|
|
param set MPP_XY_FF 0.0
|
|
param set MPP_XY_VEL_P 0.01
|
|
param set MPP_XY_VEL_I 0.0
|
|
param set MPP_XY_VEL_D 0.01
|
|
param set MPP_XY_VEL_MAX 2.0
|
|
param set MPP_Z_VEL_P 0.3
|
|
param set MPP_Z_P 2
|
|
param set SENS_BOARD_ROT 8
|
|
param set MP_ROLL_P 3
|
|
param set MP_ROLLRATE_P 0.3
|
|
param set MP_ROLLRATE_I 0.001
|
|
param set MP_ROLLRATE_D 0.001
|
|
param set MP_PITCH_P 4
|
|
param set MP_PITCHRATE_P 0.3
|
|
rgbled start
|
|
tone_alarm start
|
|
gyrosim start
|
|
accelsim start
|
|
barosim start
|
|
adcsim start
|
|
gpssim start
|
|
hil mode_pwm
|
|
commander start
|
|
sensors start
|
|
land_detector start multicopter
|
|
navigator start
|
|
attitude_estimator_q start
|
|
position_estimator_inav start
|
|
mc_pos_control_m start
|
|
mc_att_control_m start
|
|
mixer load /dev/pwm_output0 ../../ROMFS/px4fmu_common/mixers/quad_x.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 boot_complete
|