2015-10-24 10:57:46 -04:00
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uorb start
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simulator start -s
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param load
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param set MAV_TYPE 2
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2015-10-26 16:03:22 -04:00
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param set MC_PITCHRATE_P 0.3
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param set MC_ROLLRATE_P 0.3
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2015-10-24 10:57:46 -04:00
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param set MC_YAW_P 2.0
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param set MC_YAWRATE_P 0.35
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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 CAL_GYRO0_ID 2293760
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param set CAL_ACC0_ID 1376256
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param set CAL_ACC1_ID 1310720
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param set CAL_MAG0_ID 196608
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param set CAL_GYRO0_XOFF 0.01
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2015-10-26 16:03:22 -04:00
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param set CAL_ACC0_XOFF 1
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param set CAL_ACC0_YOFF 2
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param set CAL_ACC0_ZOFF 3
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2015-10-24 10:57:46 -04:00
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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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2015-10-26 16:03:22 -04:00
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param set MPC_XY_P 0.15
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param set MPC_XY_VEL_P 0.05
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2015-10-24 10:57:46 -04:00
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param set MPC_XY_VEL_D 0.005
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2015-10-26 16:03:22 -04:00
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param set MPC_XY_FF 0.1
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param set SENS_BOARD_ROT 8
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2015-10-24 10:57:46 -04:00
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# changes for LPE
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param set COM_RC_IN_MODE 1
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param set LPE_BETA_MAX 10000
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rgbled 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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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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attitude_estimator_q start
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mc_pos_control start
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mc_att_control start
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2015-10-26 16:03:22 -04:00
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mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_w.main.mix
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2015-10-24 10:57:46 -04:00
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mavlink start -u 14556 -r 2000000
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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_COV -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_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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mavlink boot_complete
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sdlog2 start -r 100 -e -t -a
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# start LPE at end, when we know it is ok to init sensors
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sleep 5
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local_position_estimator start
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