posix-configs/SITL/init/ekf2/tailsitter

uorb start
param load
dataman start
param set BAT_N_CELLS 3
param set CAL_ACC0_ID 1376264
param set CAL_ACC0_XOFF 0.01
param set CAL_ACC0_XSCALE 1.01
param set CAL_ACC0_YOFF -0.01
param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZOFF 0.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_ID 1310728
param set CAL_ACC1_XOFF 0.01
param set CAL_GYRO0_ID 2293768
param set CAL_GYRO0_XOFF 0.01
param set CAL_MAG0_ID 196616
param set CAL_MAG0_XOFF 0.01
param set COM_RC_IN_MODE 1
param set EKF2_AID_MASK 1
param set EKF2_ANGERR_INIT 0.01
param set EKF2_GBIAS_INIT 0.01
param set EKF2_HGT_MODE 0
param set EKF2_MAG_TYPE 1
param set MAV_TYPE 20
param set MC_PITCH_P 6
param set MC_PITCHRATE_P 0.2
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.2
param set MPC_XY_P 0.15
param set MPC_XY_VEL_D 0.005
param set MPC_XY_VEL_P 0.05
param set MPC_Z_VEL_I 0.15
param set MPC_Z_VEL_P 0.8
param set NAV_DLL_ACT 2
param set SDLOG_DIRS_MAX 7
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set SENS_DPRES_OFF 0.001
param set SYS_AUTOSTART 4010
param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2
param set VT_TYPE 0
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim start
sensors start
commander start
land_detector start vtol
navigator start
ekf2 start
vtol_att_control start
mc_pos_control start
mc_att_control start
fw_pos_control_l1 start
fw_att_control start
wind_estimator start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x_vtol_sim.main.mix
mavlink start -x -u 14556 -r 2000000
mavlink start -x -u 14557 -r 2000000 -m onboard -o 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
added gazebo startup script for tailsitter 2015-11-18 13:27:23 +01:00			`uorb start`
			`param load`
			`dataman start`
SITL: Set battery cells 2016-07-02 11:41:23 +02:00			`param set BAT_N_CELLS 3`
POSIX: Fix sensor ID 2015-11-22 15:56:01 +01:00			`param set CAL_ACC0_ID 1376264`
added gazebo startup script for tailsitter 2015-11-18 13:27:23 +01:00			`param set CAL_ACC0_XOFF 0.01`
			`param set CAL_ACC0_XSCALE 1.01`
set EKF2_AID_MASK and EKF2_HGT_MODE because of iris_opt_flow 2017-03-15 08:32:05 +01:00			`param set CAL_ACC0_YOFF -0.01`
added gazebo startup script for tailsitter 2015-11-18 13:27:23 +01:00			`param set CAL_ACC0_YSCALE 1.01`
set EKF2_AID_MASK and EKF2_HGT_MODE because of iris_opt_flow 2017-03-15 08:32:05 +01:00			`param set CAL_ACC0_ZOFF 0.01`
added gazebo startup script for tailsitter 2015-11-18 13:27:23 +01:00			`param set CAL_ACC0_ZSCALE 1.01`
set EKF2_AID_MASK and EKF2_HGT_MODE because of iris_opt_flow 2017-03-15 08:32:05 +01:00			`param set CAL_ACC1_ID 1310728`
added gazebo startup script for tailsitter 2015-11-18 13:27:23 +01:00			`param set CAL_ACC1_XOFF 0.01`
set EKF2_AID_MASK and EKF2_HGT_MODE because of iris_opt_flow 2017-03-15 08:32:05 +01:00			`param set CAL_GYRO0_ID 2293768`
			`param set CAL_GYRO0_XOFF 0.01`
			`param set CAL_MAG0_ID 196616`
added gazebo startup script for tailsitter 2015-11-18 13:27:23 +01:00			`param set CAL_MAG0_XOFF 0.01`
set EKF2_AID_MASK and EKF2_HGT_MODE because of iris_opt_flow 2017-03-15 08:32:05 +01:00			`param set COM_RC_IN_MODE 1`
			`param set EKF2_AID_MASK 1`
			`param set EKF2_ANGERR_INIT 0.01`
			`param set EKF2_GBIAS_INIT 0.01`
			`param set EKF2_HGT_MODE 0`
			`param set EKF2_MAG_TYPE 1`
			`param set MAV_TYPE 20`
SITL: Re-tune multicopter gains 2016-07-07 23:28:21 +02:00			`param set MC_PITCH_P 6`
set EKF2_AID_MASK and EKF2_HGT_MODE because of iris_opt_flow 2017-03-15 08:32:05 +01:00			`param set MC_PITCHRATE_P 0.2`
SITL: Re-tune multicopter gains 2016-07-07 23:28:21 +02:00			`param set MC_ROLL_P 6`
set EKF2_AID_MASK and EKF2_HGT_MODE because of iris_opt_flow 2017-03-15 08:32:05 +01:00			`param set MC_ROLLRATE_P 0.2`
added gazebo startup script for tailsitter 2015-11-18 13:27:23 +01:00			`param set MPC_XY_P 0.15`
			`param set MPC_XY_VEL_D 0.005`
set EKF2_AID_MASK and EKF2_HGT_MODE because of iris_opt_flow 2017-03-15 08:32:05 +01:00			`param set MPC_XY_VEL_P 0.05`
			`param set MPC_Z_VEL_I 0.15`
Gazebo SITL: Ensure a tightly closed altitude control loop 2016-04-27 15:30:44 +02:00			`param set MPC_Z_VEL_P 0.8`
set EKF2_AID_MASK and EKF2_HGT_MODE because of iris_opt_flow 2017-03-15 08:32:05 +01:00			`param set NAV_DLL_ACT 2`
SITL configs: set SDLOG_DIRS_MAX to 7 Avoids ending up with huge log directories. plus some param alphabetic reordering 2018-01-16 15:06:32 +01:00			`param set SDLOG_DIRS_MAX 7`
Change to sitl to allow no board rotation for gazebo. (#5400) * Change to sitl to allow no board rotation for gazebo. * Fix typo in typhoon launch file and create config for lpe. * Exit early on test failures 2016-08-27 20:03:54 -04:00			`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`
set EKF2_AID_MASK and EKF2_HGT_MODE because of iris_opt_flow 2017-03-15 08:32:05 +01:00			`param set SENS_DPRES_OFF 0.001`
			`param set SYS_AUTOSTART 4010`
			`param set SYS_MC_EST_GROUP 2`
			`param set SYS_RESTART_TYPE 2`
			`param set VT_TYPE 0`
SITL init scripts: add replay tryapplyparams & replay trystart These will only start replay if there's an environment variable 'replay', otherwise they do nothing. We apply the parameters even before loading the modules, so that the modules 'see' the same state as the recorded system had. We will have to see how well this works in practice. 2016-06-30 15:41:17 +02:00			`replay tryapplyparams`
Start simulator after params have been loaded and set 2016-04-23 14:33:10 +02:00			`simulator start -s`
added gazebo startup script for tailsitter 2015-11-18 13:27:23 +01:00			`tone_alarm start`
			`gyrosim start`
			`accelsim start`
			`barosim start`
			`adcsim start`
			`gpssim start`
			`measairspeedsim start`
pwm_out_sim cleanup - move to ModuleBase - strip down to PWM 8 and 16 modes only - remove all dead code - implement missing pwm ioctls (current value, rates, etc) - default rate 50Hz -> 400Hz 2018-03-04 11:00:40 -05:00			`pwm_out_sim start`
added gazebo startup script for tailsitter 2015-11-18 13:27:23 +01:00			`sensors start`
			`commander start`
land detector VTOL inherit MC maybe_landed (#7738) * maybe_landed state for VTOL inherited from MC * set correct land detector for SITL 2017-08-06 16:02:56 +02:00			`land_detector start vtol`
added gazebo startup script for tailsitter 2015-11-18 13:27:23 +01:00			`navigator start`
Switch all SITL configs to EKF2 2016-02-28 16:36:56 +01:00			`ekf2 start`
added gazebo startup script for tailsitter 2015-11-18 13:27:23 +01:00			`vtol_att_control start`
			`mc_pos_control start`
			`mc_att_control start`
			`fw_pos_control_l1 start`
			`fw_att_control start`
start wind estimator for relevant platforms Signed-off-by: Roman <bapstroman@gmail.com> 2018-03-14 10:59:49 +01:00			`wind_estimator start`
ROMFS: added mixer for tailsitter simulation - simulated tailsitter needs a virtual elevator since we cannot simulate elevons yet (liftDrag plugin does not model longitudinal moment Cm) Signed-off-by: Roman <bapstroman@gmail.com> 2018-02-13 12:45:41 +01:00			`mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x_vtol_sim.main.mix`
posix-configs: enable ftp for all mavlink instances 2017-09-18 12:38:49 +02:00			`mavlink start -x -u 14556 -r 2000000`
			`mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540`
added gazebo startup script for tailsitter 2015-11-18 13:27:23 +01:00			`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`
Gazebo configs: Enable attitude quaternion stream 2016-04-06 11:14:49 -07:00			`mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556`
added gazebo startup script for tailsitter 2015-11-18 13:27:23 +01:00			`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`
posix-configs replace sdlog2 with logger 2017-04-23 18:15:58 -04:00			`logger start -e -t`
Update SITL config posix-configs/SITL/init/rcS_gazebo_tailsitter 2016-06-05 12:42:08 +02:00			`mavlink boot_complete`
SITL init scripts: add replay tryapplyparams & replay trystart These will only start replay if there's an environment variable 'replay', otherwise they do nothing. We apply the parameters even before loading the modules, so that the modules 'see' the same state as the recorded system had. We will have to see how well this works in practice. 2016-06-30 15:41:17 +02:00			`replay trystart`