posix-configs/SITL/init/rcS_jmavsim_iris

uorb start
param load
param set MAV_TYPE 2
param set MC_PITCHRATE_P 0.15
param set MC_PITCH_P 7
param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.15
param set MC_YAW_P 2.8
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 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 MPC_XY_P 0.4
param set MPC_XY_VEL_P 0.2
param set MPC_XY_VEL_D 0.005
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set COM_DL_LOSS_EN 1
param set COM_DISARM_LAND 3
param set NAV_ACC_RAD 2.0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set MIS_TAKEOFF_ALT 2.5
param set MPC_HOLD_MAX_Z 2.0
param set MPC_HOLD_XY_DZ 0.1
param set MPC_Z_VEL_MAX 2.0
param set MPC_Z_VEL_P 0.4
simulator start -s
rgbledsim 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
ekf2 start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
mavlink start -u 14556 -r 2000000 -t 127.0.0.1
mavlink start -u 14557 -r 2000000 -m onboard -o 14540 -t 127.0.0.1
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
mavlink stream -r 20 -s MANUAL_CONTROL -u 14556
mavlink boot_complete
sdlog2 start -r 100 -e -t -a
Linux: Added work queue support and unit test PX4 uses NuttX data structures throughout so those data structures were preserved and used to implement high and low priority queues. A unit test for the work queues was added. The polling rate of the queues are set in px4_config.h in CONFIG_SCHED_WORKPERIOD. The units are milliseconds. Signed-off-by: Mark Charlebois <charlebm@gmail.com> 2015-03-25 18:28:06 -07:00			`uorb start`
POSIX: Re-load params after boot 2015-06-14 03:17:33 -07:00			`param load`
POSIX: Fix SITL startup script 2015-06-19 10:44:36 -07:00			`param set MAV_TYPE 2`
Reset Iris jMAVSim tuning gains from master 2015-12-14 16:29:51 +00:00			`param set MC_PITCHRATE_P 0.15`
			`param set MC_PITCH_P 7`
			`param set MC_ROLL_P 7`
			`param set MC_ROLLRATE_P 0.15`
jMAVSim: Set stiffer gains 2015-12-01 12:42:57 +01:00			`param set MC_YAW_P 2.8`
Better SITL gains for yaw 2015-07-02 00:04:06 -07:00			`param set MC_YAWRATE_P 0.35`
POSIX: Use the same estimators for multicopters as on the real system 2015-06-19 19:31:41 -07:00			`param set SYS_AUTOSTART 4010`
set SYS_RESTART_TYPE in sitl startup, normally IO does that 2015-06-22 13:47:11 +02:00			`param set SYS_RESTART_TYPE 2`
POSIX: Fix dataman start order 2015-06-18 14:24:35 -07:00			`dataman start`
POSIX: Fix sensor ID 2015-11-22 15:56:01 +01:00			`param set CAL_GYRO0_ID 2293768`
			`param set CAL_ACC0_ID 1376264`
			`param set CAL_ACC1_ID 1310728`
			`param set CAL_MAG0_ID 196616`
POSIX: Fix SITL startup script 2015-06-19 10:44:36 -07:00			`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`
Reset Iris jMAVSim tuning gains from master 2015-12-14 16:29:51 +00:00			`param set MPC_XY_P 0.4`
			`param set MPC_XY_VEL_P 0.2`
			`param set MPC_XY_VEL_D 0.005`
Added launchfile to launch gazebo iris and mavros bridge. Added sitl_gazebo to makefile and new init rc file for gazebo iris apps and params 2015-07-23 15:45:59 +02:00			`param set SENS_BOARD_ROT 0`
Fix SITL configs 2016-03-11 16:42:07 +01:00			`param set SENS_BOARD_X_OFF 0.000001`
SITL: jMAVSim and Iris use joystick 2015-12-01 20:46:51 +01:00			`param set COM_RC_IN_MODE 1`
Enable data loss failsafe in SITL so we doo not RTL on RC failure 2016-03-13 19:49:05 +01:00			`param set COM_DL_LOSS_EN 1`
jMAVSIM / IRIS: Disarm on land 2016-04-08 22:15:37 -07:00			`param set COM_DISARM_LAND 3`
SITL: Better Navigation defaults for multicopters 2015-12-03 21:25:46 +01:00			`param set NAV_ACC_RAD 2.0`
			`param set RTL_RETURN_ALT 30.0`
			`param set RTL_DESCEND_ALT 10.0`
Better defaults for posix SITL 2016-04-08 22:36:07 -07:00			`param set RTL_LAND_DELAY 0`
			`param set MIS_TAKEOFF_ALT 2.5`
updated jmavsim iris config for takeoff and landing 2015-12-24 10:42:44 +01:00			`param set MPC_HOLD_MAX_Z 2.0`
			`param set MPC_HOLD_XY_DZ 0.1`
			`param set MPC_Z_VEL_MAX 2.0`
			`param set MPC_Z_VEL_P 0.4`
Start simulator after params have been loaded and set 2016-04-23 14:33:10 +02:00			`simulator start -s`
Fix SITL / jMAVSim with correct start script 2015-11-20 09:23:39 +01:00			`rgbledsim start`
POSIX: Complete default startup config so we get a working quad setup on boot. 2015-06-13 17:08:07 -07:00			`tone_alarm start`
			`gyrosim start`
			`accelsim start`
			`barosim start`
			`adcsim start`
gpssim: cleaned up gpssim code The gpssim code was named gps_sim vs being consistent with other simulators (gpssim). It also used warnx and errx and had lots of commeted out code. Signed-off-by: Mark Charlebois <charlebm@gmail.com> 2015-06-15 15:22:00 -07:00			`gpssim start`
POSIX: Run pwm_out_sim as the hil command got renamed to it 2015-08-28 09:53:45 +02:00			`pwm_out_sim mode_pwm`
Enfore 1s sleep after sensor start, force joystick back to simulation mode 2015-09-07 15:40:25 +02:00			`sleep 1`
Linux: changed adc to adcsim and add barosim The name of the app was adc but should have been adcsim. Added a barometer simulator. This will allow ms56711_linux to depend on real devices and not simulation. Signed-off-by: Mark Charlebois <charlebm@gmail.com> 2015-04-10 11:23:17 -07:00			`sensors start`
POSIX: Start commander after sensors 2015-09-04 19:58:23 +02:00			`commander start`
start land detector for SITL 2015-06-26 15:01:53 +02:00			`land_detector start multicopter`
improve SITL startup script 2015-06-26 00:40:02 +02:00			`navigator start`
Switch POSIX sitl to EKF2 per default 2016-01-25 22:42:53 +01:00			`ekf2 start`
POSIX: Complete default startup config so we get a working quad setup on boot. 2015-06-13 17:08:07 -07:00			`mc_pos_control start`
			`mc_att_control start`
SITL: Fix paths 2015-09-20 16:41:34 +02:00			`mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix`
Configure mavlink to connect to localhost 2016-04-12 14:49:32 +02:00			`mavlink start -u 14556 -r 2000000 -t 127.0.0.1`
			`mavlink start -u 14557 -r 2000000 -m onboard -o 14540 -t 127.0.0.1`
SITL: Run more streams at higher rates 2015-07-09 00:49:40 +02:00			`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`
Start attitude estimator Q stream 2016-04-06 11:16:14 -07:00			`mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556`
SITL: Run more streams at higher rates 2015-07-09 00:49:40 +02:00			`mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556`
			`mavlink stream -r 20 -s RC_CHANNELS -u 14556`
Added the launch file 2015-07-23 18:54:58 +02:00			`mavlink stream -r 250 -s HIGHRES_IMU -u 14556`
add OPTICAL_FLOW_RAD mavlink stream for SITL 2015-09-20 18:58:04 -03:00			`mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556`
updated jmavsim iris config for takeoff and landing 2015-12-24 10:42:44 +01:00			`mavlink stream -r 20 -s MANUAL_CONTROL -u 14556`
Merged beta into master 2015-08-01 16:58:02 +02:00			`mavlink boot_complete`
start logger for SITL 2015-09-03 09:47:14 +02:00			`sdlog2 start -r 100 -e -t -a`