From 1d99f83b34e92d7d61c314d4de6942f9fe9897c8 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 31 Aug 2016 09:17:01 +0200
Subject: [PATCH] Add config for LPE and plane

---
 posix-configs/SITL/init/lpe/plane | 64 +++++++++++++++++++++++++++++++
 1 file changed, 64 insertions(+)
 create mode 100644 posix-configs/SITL/init/lpe/plane

diff --git a/posix-configs/SITL/init/lpe/plane b/posix-configs/SITL/init/lpe/plane
new file mode 100644
index 0000000000..8b4d1dc341
--- /dev/null
+++ b/posix-configs/SITL/init/lpe/plane
@@ -0,0 +1,64 @@
+uorb start
+param load
+param set MAV_TYPE 1
+param set SYS_AUTOSTART 3033
+param set SYS_RESTART_TYPE 2
+dataman start
+param set BAT_N_CELLS 3
+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 SENS_BOARD_ROT 0
+param set SENS_DPRES_OFF 0.001
+param set SENS_BOARD_X_OFF 0.000001
+param set COM_RC_IN_MODE 1
+param set NAV_DLL_ACT 2
+param set NAV_ACC_RAD 15.0
+param set FW_THR_IDLE 0.8
+param set EKF2_GBIAS_INIT 0.01
+param set EKF2_ANGERR_INIT 0.01
+param set EKF2_MAG_TYPE 1
+replay tryapplyparams
+simulator start -s
+rgbledsim start
+tone_alarm start
+gyrosim start
+accelsim start
+barosim start
+adcsim start
+gpssim start
+measairspeedsim start
+pwm_out_sim mode_pwm
+sleep 1
+sensors start
+commander start
+navigator start
+ekf2 start
+fw_pos_control_l1 start
+fw_att_control start
+land_detector start fixedwing
+mixer load /dev/pwm_output0 ROMFS/sitl/mixers/plane_sitl.main.mix
+mavlink start -u 14556 -r 2000000
+mavlink start -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
+sdlog2 start -r 200 -e -t -a
+mavlink boot_complete
+replay trystart