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SITL: move all models to unified rcS startup and remove old scripts

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This commit is contained in:
Beat Küng
2018-08-11 18:02:12 +02:00
committed by Daniel Agar
parent 5ebd0116de
commit 273988c124
51 changed files with 391 additions and 2442 deletions
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41
posix-configs/SITL/init/ekf2/hippocampus
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@@ -1,41 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
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 COM_DISARM_LAND 0
param set MAV_TYPE 3
param set SDLOG_DIRS_MAX 7
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
dataman start
simulator start -s
pwm_out_sim start
mixer load /dev/pwm_output0 etc/mixers/uuv_quad_x.mix
gyrosim start
accelsim start
barosim start
gpssim start
sleep 1
sensors start
commander start
ekf2 start
mavlink start -u 14556 -r 4000000
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
logger start -r 100 -e
mavlink boot_complete

83
posix-configs/SITL/init/ekf2/iris
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@@ -1,83 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
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_DISARM_LAND 3
param set COM_OBL_ACT 2
param set COM_OBL_RC_ACT 0
param set COM_OF_LOSS_T 5
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 2
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 MIS_TAKEOFF_ALT 2.5
param set MPC_HOLD_MAX_Z 2.0
param set MPC_Z_VEL_I 0.15
param set MPC_Z_VEL_P 0.6
param set NAV_ACC_RAD 2.0
param set NAV_DLL_ACT 2
param set RTL_DESCEND_ALT 5.0
param set RTL_LAND_DELAY 5
param set RTL_RETURN_ALT 30.0
param set SDLOG_DIRS_MAX 7
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set SYS_AUTOSTART 4010
param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
pwm_out_sim start
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 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 50 -s ATTITUDE -u 14556
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -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

85
posix-configs/SITL/init/ekf2/iris_irlock
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@@ -1,85 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
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_DISARM_LAND 3
param set COM_OBL_ACT 2
param set COM_OBL_RC_ACT 0
param set COM_OF_LOSS_T 5
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 2
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 MIS_TAKEOFF_ALT 2.5
param set MPC_HOLD_MAX_Z 2.0
param set MPC_Z_VEL_I 0.15
param set MPC_Z_VEL_P 0.6
param set NAV_ACC_RAD 2.0
param set NAV_DLL_ACT 2
param set RTL_DESCEND_ALT 5.0
param set RTL_LAND_DELAY 5
param set RTL_RETURN_ALT 30.0
param set SDLOG_DIRS_MAX 7
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set SYS_AUTOSTART 4010
param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
navigator start
ekf2 start
landing_target_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
mavlink start -u 14556 -r 4000000
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 50 -s ATTITUDE -u 14556
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -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

89
posix-configs/SITL/init/ekf2/iris_opt_flow
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@@ -1,89 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_TYPE 2
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
param set SYS_MC_EST_GROUP 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_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set COM_DISARM_LAND 3
param set NAV_ACC_RAD 2.0
param set COM_OF_LOSS_T 5
param set COM_OBL_ACT 2
param set COM_OBL_RC_ACT 0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 5.0
param set RTL_LAND_DELAY 5
param set SDLOG_DIRS_MAX 7
param set MIS_TAKEOFF_ALT 2.5
param set MC_ROLLRATE_P 0.2
param set MC_PITCHRATE_P 0.2
param set MC_PITCH_P 6
param set MC_ROLL_P 6
param set MPC_HOLD_MAX_Z 2.0
param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_I 0.15
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set EKF2_MAG_TYPE 1
param set EKF2_AID_MASK 2
param set EKF2_HGT_MODE 0
param set EKF2_EV_DELAY 5
param set EKF2_EVP_NOISE 0.05
param set EKF2_EVA_NOISE 0.05
param set MPC_ALT_MODE 2
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
pwm_out_sim start
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 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 50 -s ATTITUDE -u 14556
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -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 10 -s DISTANCE_SENSOR -u 14556
mavlink stream -r 10 -s VISION_POSITION_ESTIMATE -u 14556
logger start -e -t
mavlink boot_complete
replay trystart

83
posix-configs/SITL/init/ekf2/iris_rplidar
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@@ -1,83 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
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_DISARM_LAND 3
param set COM_OBL_ACT 2
param set COM_OBL_RC_ACT 0
param set COM_OF_LOSS_T 5
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 2
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 MIS_TAKEOFF_ALT 2.5
param set MPC_HOLD_MAX_Z 2.0
param set MPC_Z_VEL_I 0.15
param set MPC_Z_VEL_P 0.6
param set NAV_ACC_RAD 2.0
param set NAV_DLL_ACT 2
param set RTL_DESCEND_ALT 5.0
param set RTL_LAND_DELAY 5
param set RTL_RETURN_ALT 30.0
param set SDLOG_DIRS_MAX 7
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set SYS_AUTOSTART 4010
param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
pwm_out_sim start
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 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 50 -s ATTITUDE -u 14556
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -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

88
posix-configs/SITL/init/ekf2/iris_vision
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@@ -1,88 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_TYPE 2
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
param set SYS_MC_EST_GROUP 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_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set COM_DISARM_LAND 3
param set NAV_ACC_RAD 2.0
param set COM_OF_LOSS_T 5
param set COM_OBL_ACT 2
param set COM_OBL_RC_ACT 0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 5.0
param set RTL_LAND_DELAY 5
param set SDLOG_DIRS_MAX 7
param set MIS_TAKEOFF_ALT 2.5
param set MC_ROLLRATE_P 0.2
param set MC_PITCHRATE_P 0.2
param set MC_PITCH_P 6
param set MC_ROLL_P 6
param set MPC_HOLD_MAX_Z 2.0
param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_I 0.15
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set EKF2_MAG_TYPE 1
param set EKF2_AID_MASK 8
param set EKF2_HGT_MODE 0
param set EKF2_EV_DELAY 5
param set EKF2_EVP_NOISE 0.05
param set EKF2_EVA_NOISE 0.05
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
pwm_out_sim start
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 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 50 -s ATTITUDE -u 14556
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -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 10 -s DISTANCE_SENSOR -u 14556
mavlink stream -r 10 -s VISION_POSITION_ESTIMATE -u 14556
logger start -e -t
mavlink boot_complete
replay trystart

82
posix-configs/SITL/init/ekf2/multiple_iris
View File

@@ -1,82 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
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_DISARM_LAND 3
param set COM_OBL_ACT 2
param set COM_OBL_RC_ACT 0
param set COM_OF_LOSS_T 5
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 2
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 MIS_TAKEOFF_ALT 2.5
param set MPC_HOLD_MAX_Z 2.0
param set MPC_Z_VEL_I 0.15
param set MPC_Z_VEL_P 0.6
param set NAV_ACC_RAD 2.0
param set NAV_DLL_ACT 2
param set RTL_DESCEND_ALT 5.0
param set RTL_LAND_DELAY 5
param set RTL_RETURN_ALT 30.0
param set SDLOG_DIRS_MAX 7
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set SYS_AUTOSTART 4010
param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2
replay tryapplyparams
simulator start -s -u _SIMPORT_
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
pwm_out_sim start
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 etc/mixers/quad_w.main.mix
mavlink start -x -u _MAVPORT_ -r 4000000 -o _MAVOPORT_
mavlink start -x -u _MAVPORT2_ -r 4000000 -m onboard -o _MAVOPORT2_
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u _MAVPORT_
mavlink stream -r 50 -s LOCAL_POSITION_NED -u _MAVPORT_
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u _MAVPORT_
mavlink stream -r 50 -s ATTITUDE -u _MAVPORT_
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u _MAVPORT_
mavlink stream -r 50 -s ATTITUDE_TARGET -u _MAVPORT_
mavlink stream -r 20 -s RC_CHANNELS -u _MAVPORT_
mavlink stream -r 250 -s HIGHRES_IMU -u _MAVPORT_
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u _MAVPORT_
logger start -e -t
mavlink boot_complete
replay trystart

106
posix-configs/SITL/init/ekf2/plane
View File

@@ -1,106 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
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_POS_FS_DELAY 5
param set COM_POS_FS_EPH 25
param set COM_POS_FS_EPV 50
param set COM_POS_FS_GAIN 0
param set COM_POS_FS_PROB 1
param set COM_RC_IN_MODE 1
param set COM_VEL_FS_EVH 5
param set EKF2_AID_MASK 1
param set EKF2_ANGERR_INIT 0.01
param set EKF2_ARSP_THR 8.0
param set EKF2_FUSE_BETA 1
param set EKF2_GBIAS_INIT 0.01
param set EKF2_HGT_MODE 0
param set EKF2_MAG_ACCLIM 0
param set EKF2_MAG_TYPE 1
param set EKF2_MAG_YAWLIM 0
param set FW_LND_ANG 8
param set FW_P_TC 0.5
param set FW_PR_FF 0.40
param set FW_PR_I 0.05
param set FW_PR_P 0.05
param set FW_R_TC 0.7
param set FW_RR_FF 0.20
param set FW_RR_I 0.02
param set FW_RR_P 0.22
param set FW_THR_IDLE 0.15
param set FW_W_EN 1
param set MAV_TYPE 1
param set MIS_LTRMIN_ALT 30
param set MIS_TAKEOFF_ALT 30
param set NAV_ACC_RAD 15.0
param set NAV_DLL_ACT 2
param set NAV_LOITER_RAD 50
param set RWTO_TKOFF 1
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 3033
param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
measairspeedsim start
pwm_out_sim start
sensors start
commander start
navigator start
ekf2 start
fw_pos_control_l1 start
fw_att_control start
land_detector start fixedwing
wind_estimator start
mixer load /dev/pwm_output0 etc/mixers-sitl/plane_sitl.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

88
posix-configs/SITL/init/ekf2/rover
View File

@@ -1,88 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
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_ANGERR_INIT 0.01
param set EKF2_GBIAS_INIT 0.01
param set EKF2_MAG_TYPE 1
param set GND_L1_DIST 5
param set GND_SP_CTRL_MODE 1
param set GND_SPEED_D 3
param set GND_SPEED_I 0.001
param set GND_SPEED_IMAX 0.125
param set GND_SPEED_P 0.25
param set GND_SPEED_THR_SC 1
param set GND_THR_CRUISE 0.3
param set GND_THR_IDLE 0
param set GND_THR_MAX 0.5
param set GND_THR_MIN 0
param set GND_SPEED_TRIM 4
param set GND_WR_D 1.2
param set GND_WR_I 0.9674
param set GND_WR_IMAX 0.1
param set GND_WR_P 2
param set MAV_TYPE 10
param set MIS_LTRMIN_ALT 0.01
param set MIS_TAKEOFF_ALT 0.01
param set NAV_ACC_RAD 0.5
param set NAV_DLL_ACT 0
param set NAV_LOITER_RAD 2
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set SENS_DPRES_OFF 0.001
param set SDLOG_DIRS_MAX 7
param set SYS_AUTOSTART 50002
param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
measairspeedsim start
pwm_out_sim start
sleep 1
sensors start
commander start
land_detector start ugv
navigator start
ekf2 start
gnd_pos_control start
gnd_att_control start
mixer load /dev/pwm_output0 etc/mixers-sitl/rover_sitl.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -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 50 -s SERVO_OUTPUT_RAW_0 -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

80
posix-configs/SITL/init/ekf2/solo
View File

@@ -1,80 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
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_DISARM_LAND 3
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 2
param set MC_PITCH_P 6
param set MC_PITCHRATE_P 0.15
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.15
param set MIS_TAKEOFF_ALT 2.5
param set MPC_HOLD_MAX_Z 2.0
param set MPC_Z_VEL_I 0.15
param set MPC_Z_VEL_P 0.6
param set NAV_ACC_RAD 2.0
param set NAV_DLL_ACT 2
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set RTL_RETURN_ALT 30.0
param set SDLOG_DIRS_MAX 7
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set SYS_AUTOSTART 4010
param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
pwm_out_sim start
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 etc/mixers/quad_x.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 50 -s ATTITUDE -u 14556
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -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

103
posix-configs/SITL/init/ekf2/standard_vtol
View File

@@ -1,103 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
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_DISARM_LAND 5
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 FW_AIRSPD_MAX 25
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set MAV_TYPE 22
param set MC_PITCH_P 6
param set MC_PITCHRATE_P 0.2
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.3
param set MIS_LTRMIN_ALT 10
param set MIS_TAKEOFF_ALT 10
param set MIS_YAW_TMT 10
param set MPC_ACC_HOR_MAX 2
param set MPC_ACC_HOR_MAX 2.0
param set MPC_THR_MIN 0.1
param set MPC_TKO_SPEED 1.0
param set MPC_XY_P 0.8
param set MPC_XY_VEL_D 0.005
param set MPC_XY_VEL_I 0.2
param set MPC_XY_VEL_P 0.15
param set MPC_Z_VEL_I 0.15
param set MPC_Z_VEL_MAX_DN 1.5
param set MPC_Z_VEL_P 0.6
param set NAV_ACC_RAD 5.0
param set NAV_DLL_ACT 2
param set NAV_LOITER_RAD 80
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set RTL_RETURN_ALT 30.0
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 13006
param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2
param set VT_F_TRANS_THR 0.75
param set VT_MOT_COUNT 4
param set VT_TYPE 2
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim 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 etc/mixers-sitl/standard_vtol_sitl.main.mix
mavlink start -x -u 14556 -r 2000000 -f
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 -f
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14557
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

85
posix-configs/SITL/init/ekf2/tailsitter
View File

@@ -1,85 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
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 MPC_LAND_SPEED 1.5
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 13003
param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2
param set VT_TYPE 0
param set VT_F_TRANS_DUR 1.5
param set VT_F_TRANS_THR 0.7
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim 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 etc/mixers-sitl/quad_x_vtol.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

120
posix-configs/SITL/init/ekf2/tiltrotor
View File

@@ -1,120 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
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_DISARM_LAND 5
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 FW_AIRSPD_MAX 25
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set MAV_TYPE 21
param set MC_PITCH_P 6
param set MC_PITCHRATE_P 0.2
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.3
param set MIS_LTRMIN_ALT 10
param set MIS_TAKEOFF_ALT 10
param set MIS_YAW_TMT 10
param set MPC_ACC_HOR_MAX 2
param set MPC_ACC_HOR_MAX 2.0
param set MPC_TKO_SPEED 1.0
param set MPC_XY_P 0.8
param set MPC_XY_VEL_D 0.005
param set MPC_XY_VEL_I 0.2
param set MPC_XY_VEL_P 0.15
param set MPC_Z_VEL_I 0.15
param set MPC_Z_VEL_MAX_DN 1.5
param set MPC_Z_VEL_P 0.6
param set NAV_ACC_RAD 5.0
param set NAV_DLL_ACT 2
param set NAV_LOITER_RAD 80
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set RTL_RETURN_ALT 30.0
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 13012
param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2
param set VT_MOT_COUNT 4
param set VT_F_TRANS_THR 0.75
param set VT_TYPE 1
param set VT_TILT_FW 3.1415
param set VT_TILT_TRANS 1.2
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim 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 etc/mixers-sitl/tiltrotor_sitl.main.mix
mavlink start -x -u 14556 -r 2000000 -f
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 -f
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14557
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

93
posix-configs/SITL/init/ekf2/typhoon_h480
View File

@@ -1,93 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
dataman start
param set BAT_N_CELLS 3
param set CAL_ACC0_ID 1376264
param set CAL_ACC0_XOFF 0.001
param set CAL_ACC0_XSCALE 1.0001
param set CAL_ACC0_YOFF -0.001
param set CAL_ACC0_YSCALE 1.0001
param set CAL_ACC0_ZOFF 0.001
param set CAL_ACC0_ZSCALE 1.0001
param set CAL_ACC1_ID 1310728
param set CAL_ACC1_XOFF 0.001
param set CAL_GYRO0_ID 2293768
param set CAL_GYRO0_XOFF 0.001
param set CAL_MAG0_ID 196616
param set CAL_MAG0_XOFF 0.001
param set COM_DISARM_LAND 3
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 13
param set MC_PITCH_P 6
param set MC_PITCHRATE_P 0.1
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.05
param set MIS_TAKEOFF_ALT 2.5
param set MPC_HOLD_MAX_Z 2.0
param set MPC_XY_VEL_I 0.2
param set MPC_XY_VEL_P 0.15
param set MPC_Z_VEL_I 0.15
param set MPC_Z_VEL_P 0.6
param set NAV_ACC_RAD 2.0
param set NAV_DLL_ACT 2
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set RTL_RETURN_ALT 30.0
param set SDLOG_DIRS_MAX 7
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set SYS_AUTOSTART 6001
param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2
param set TRIG_INTERFACE 3
param set TRIG_MODE 4
param set MNT_MODE_IN 0
param set MAV_PROTO_VER 2
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
pwm_out_sim start
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 etc/mixers/hexa_x.main.mix
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 50 -s ATTITUDE -u 14556
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -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 10 -s MOUNT_ORIENTATION -u 14556
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14557
mavlink stream -r 10 -s MOUNT_ORIENTATION -u 14557
logger start -e -t
vmount start
camera_trigger start
mavlink boot_complete
replay trystart

81
posix-configs/SITL/init/inav/iris
View File

@@ -1,81 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
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 SYS_MC_EST_GROUP 0
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 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 0
param set SENS_BOARD_X_OFF 0.000001
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
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
navigator start
attitude_estimator_q start
position_estimator_inav start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix
mavlink start -x -u 14556 -r 2000000
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 50 -s ATTITUDE -u 14556
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -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

83
posix-configs/SITL/init/inav/iris_opt_flow
View File

@@ -1,83 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_TYPE 2
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
param set SYS_MC_EST_GROUP 0
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_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set COM_DISARM_LAND 3
param set NAV_ACC_RAD 12.0
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 MC_ROLLRATE_P 0.3
param set MC_PITCHRATE_P 0.3
param set MC_PITCH_P 5.5
param set MC_ROLL_P 5.5
param set MC_ROLLRATE_I 0.1
param set MC_PITCHRATE_I 0.1
param set MPC_HOLD_MAX_Z 2.0
param set MPC_Z_VEL_P 0.8
param set MPC_Z_VEL_I 0.15
param set MPC_XY_VEL_P 0.15
param set MPC_XY_VEL_I 0.2
param set INAV_LIDAR_EST 1
param set INAV_W_XY_FLOW 1.0
param set INAV_W_XY_GPS_P 0.0
param set INAV_W_XY_GPS_V 0.0
param set INAV_W_Z_GPS_P 0.0
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
navigator start
attitude_estimator_q start
position_estimator_inav start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 etc/mixers/quad_w.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

41
posix-configs/SITL/init/lpe/hippocampus
View File

@@ -1,41 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
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 COM_DISARM_LAND 0
param set MAV_TYPE 3
param set SDLOG_DIRS_MAX 7
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
dataman start
simulator start -s
pwm_out_sim start
mixer load /dev/pwm_output0 etc/mixers/uuv_quad_x.mix
gyrosim start
accelsim start
barosim start
sleep 1
sensors start
commander start
attitude_estimator_q start
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
logger start -r 100 -e
mavlink boot_complete

84
posix-configs/SITL/init/lpe/iris
View File

@@ -1,84 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_TYPE 2
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
param set SYS_MC_EST_GROUP 1
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_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set COM_DISARM_LAND 3
param set NAV_ACC_RAD 2.0
param set COM_OF_LOSS_T 5
param set COM_OBL_ACT 2
param set COM_OBL_RC_ACT 0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 5.0
param set RTL_LAND_DELAY 5
param set MIS_TAKEOFF_ALT 2.5
param set MC_ROLLRATE_P 0.2
param set MC_PITCHRATE_P 0.2
param set MC_PITCH_P 6
param set MC_ROLL_P 6
param set MPC_HOLD_MAX_Z 2.0
param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_I 0.15
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set SDLOG_DIRS_MAX 7
# GPS only mode
param set LPE_FUSION 145
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
navigator start
attitude_estimator_q start
local_position_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 50 -s ATTITUDE -u 14556
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -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

86
posix-configs/SITL/init/lpe/iris_1
View File

@@ -1,86 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_SYS_ID 1
param set MAV_TYPE 2
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
param set SYS_MC_EST_GROUP 1
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_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set COM_DISARM_LAND 3
param set NAV_ACC_RAD 2.0
param set COM_OF_LOSS_T 5
param set COM_OBL_ACT 2
param set COM_OBL_RC_ACT 0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 5.0
param set RTL_LAND_DELAY 5
param set MIS_TAKEOFF_ALT 2.5
param set MC_ROLLRATE_P 0.2
param set MC_PITCHRATE_P 0.2
param set MC_PITCH_P 6
param set MC_ROLL_P 6
param set MPC_HOLD_MAX_Z 2.0
param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_I 0.15
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set SITL_UDP_PRT 14560
param set SDLOG_DIRS_MAX 7
# GPS only mode
param set LPE_FUSION 145
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
navigator start
attitude_estimator_q start
local_position_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 50 -s ATTITUDE -u 14556
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -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

86
posix-configs/SITL/init/lpe/iris_2
View File

@@ -1,86 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_SYS_ID 2
param set MAV_TYPE 2
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
param set SYS_MC_EST_GROUP 1
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_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set COM_DISARM_LAND 3
param set NAV_ACC_RAD 2.0
param set COM_OF_LOSS_T 5
param set COM_OBL_ACT 2
param set COM_OBL_RC_ACT 0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 5.0
param set RTL_LAND_DELAY 5
param set MIS_TAKEOFF_ALT 2.5
param set MC_ROLLRATE_P 0.2
param set MC_PITCHRATE_P 0.2
param set MC_PITCH_P 6
param set MC_ROLL_P 6
param set MPC_HOLD_MAX_Z 2.0
param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_I 0.15
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set SITL_UDP_PRT 14562
param set SDLOG_DIRS_MAX 7
# GPS only mode
param set LPE_FUSION 145
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
navigator start
attitude_estimator_q start
local_position_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
mavlink start -x -u 14558 -r 4000000
mavlink start -x -u 14559 -r 4000000 -m onboard -o 14541
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14558
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14558
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14558
mavlink stream -r 50 -s ATTITUDE -u 14558
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14558
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14558
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14558
mavlink stream -r 20 -s RC_CHANNELS -u 14558
mavlink stream -r 250 -s HIGHRES_IMU -u 14558
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14558
logger start -e -t
mavlink boot_complete
replay trystart

93
posix-configs/SITL/init/lpe/iris_irlock
View File

@@ -1,93 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_TYPE 2
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
param set SYS_MC_EST_GROUP 1
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_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set COM_DISARM_LAND 3
param set NAV_ACC_RAD 2.0
param set COM_OF_LOSS_T 5
param set COM_OBL_ACT 2
param set COM_OBL_RC_ACT 0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 5.0
param set RTL_LAND_DELAY 5
param set MIS_TAKEOFF_ALT 2.5
param set MC_ROLLRATE_P 0.2
param set MC_PITCHRATE_P 0.2
param set MC_PITCH_P 6
param set MC_ROLL_P 6
param set MPC_HOLD_MAX_Z 2.0
param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_I 0.15
param set MPC_XY_VEL_P 0.13
param set MPC_XY_P 1.2
param set MC_PITCHRATE_MAX 150
param set MC_ROLLRATE_MAX 150
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set SDLOG_DIRS_MAX 7
# GPS only mode
param set LPE_FUSION 145
param set LPE_EPH_MAX 5
# enable fusion of landing target velocity
param set LTEST_MODE 1
param set PLD_HACC_RAD 0.1
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
navigator start
attitude_estimator_q start
local_position_estimator start
landing_target_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
mavlink start -u 14556 -r 4000000
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 50 -s ATTITUDE -u 14556
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -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

101
posix-configs/SITL/init/lpe/iris_opt_flow
View File

@@ -1,101 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_TYPE 2
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
param set SYS_MC_EST_GROUP 1
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_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
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 MC_ROLLRATE_P 0.3
param set MC_PITCHRATE_P 0.3
param set MC_PITCH_P 5.5
param set MC_ROLL_P 5.5
param set MC_ROLLRATE_I 0.1
param set MC_PITCHRATE_I 0.1
param set MPC_HOLD_MAX_Z 2.0
param set MPC_Z_VEL_P 0.8
param set MPC_Z_VEL_I 0.15
param set MPC_XY_VEL_P 0.15
param set MPC_XY_VEL_I 0.2
param set SDLOG_DIRS_MAX 7
# changes for optical flow navigation
param set MC_PITCH_P 5.0
param set MC_ROLL_P 5.0
param set MC_ROLLRATE_P 0.2
param set MC_PITCHRATE_P 0.2
param set MC_ROLLRATE_I 0.05
param set MC_PITCHRATE_I 0.05
param set MPC_ALT_MODE 1
param set LPE_T_MAX_GRADE 0
param set MPC_XY_VEL_MAX 2
param set MPC_Z_VEL_MAX_DN 2
param set MPC_TILTMAX_AIR 10
param set MPC_TILTMAX_LND 10
param set MPC_XY_P 0.5
param set MIS_TAKEOFF_ALT 2
param set NAV_ACC_RAD 1.0
param set CBRK_GPSFAIL 240024
# Flow-only mode
param set LPE_FUSION 242
param set LPE_FAKE_ORIGIN 1
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
navigator start
attitude_estimator_q start
local_position_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 etc/mixers/quad_w.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

83
posix-configs/SITL/init/lpe/iris_rplidar
View File

@@ -1,83 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_TYPE 2
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
param set SYS_MC_EST_GROUP 1
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_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set COM_DISARM_LAND 3
param set NAV_ACC_RAD 2.0
param set COM_OF_LOSS_T 5
param set COM_OBL_ACT 2
param set COM_OBL_RC_ACT 0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 5.0
param set RTL_LAND_DELAY 5
param set MIS_TAKEOFF_ALT 2.5
param set MC_ROLLRATE_P 0.2
param set MC_PITCHRATE_P 0.2
param set MC_PITCH_P 6
param set MC_ROLL_P 6
param set MPC_HOLD_MAX_Z 2.0
param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_I 0.15
param set LPE_FUSION 242
param set SDLOG_DIRS_MAX 7
replay tryapplyparams
simulator start -s
rgbledsim start
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
pwm_out_sim start
sleep 1
sensors start
commander start
land_detector start multicopter
navigator start
attitude_estimator_q start
local_position_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 50 -s ATTITUDE -u 14556
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -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

88
posix-configs/SITL/init/lpe/plane
View File

@@ -1,88 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_TYPE 1
param set SYS_AUTOSTART 3033
param set SYS_RESTART_TYPE 2
param set SYS_MC_EST_GROUP 1
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 NAV_LOITER_RAD 50
param set MIS_LTRMIN_ALT 30
param set MIS_TAKEOFF_ALT 30
param set SDLOG_DIRS_MAX 7
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set EKF2_MAG_TYPE 1
param set FW_THR_IDLE 0.15
param set FW_LND_ANG 8
param set FW_R_TC 0.7
param set FW_RR_FF 0.20
param set FW_RR_I 0.02
param set FW_RR_P 0.22
param set FW_P_TC 0.5
param set FW_PR_FF 0.40
param set FW_PR_I 0.05
param set FW_PR_P 0.05
param set FW_W_EN 1
param set RWTO_TKOFF 1
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
measairspeedsim start
pwm_out_sim start
sensors start
commander start
navigator start
local_position_estimator start
fw_pos_control_l1 start
fw_att_control start
land_detector start fixedwing
mixer load /dev/pwm_output0 etc/mixers-sitl/plane_sitl.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

84
posix-configs/SITL/init/lpe/rover
View File

@@ -1,84 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
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 GND_L1_DIST 5
param set GND_SP_CTRL_MODE 0
param set GND_SPEED_D 3
param set GND_SPEED_I 0.001
param set GND_SPEED_IMAX 0.125
param set GND_SPEED_P 0.25
param set GND_SPEED_THR_SC 1
param set GND_THR_CRUISE 0.3
param set GND_THR_IDLE 0
param set GND_THR_MAX 1
param set GND_THR_MIN 0
param set GND_WR_D 1.2
param set GND_WR_I 0.9674
param set GND_WR_IMAX 0.1
param set GND_WR_P 2
param set MAV_TYPE 10
param set MIS_LTRMIN_ALT 0.01
param set MIS_TAKEOFF_ALT 0.01
param set NAV_ACC_RAD 0.5
param set NAV_DLL_ACT 0
param set NAV_LOITER_RAD 2
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 50002
param set SYS_MC_EST_GROUP 1
param set SYS_RESTART_TYPE 2
param set SDLOG_DIRS_MAX 7
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
measairspeedsim start
pwm_out_sim start
sleep 1
sensors start
commander start
land_detector start ugv
navigator start
ekf2 start
gnd_pos_control start
gnd_att_control start
mixer load /dev/pwm_output0 etc/mixers-sitl/rover_sitl.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -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 50 -s SERVO_OUTPUT_RAW_0 -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

84
posix-configs/SITL/init/lpe/solo
View File

@@ -1,84 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_TYPE 2
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
param set SYS_MC_EST_GROUP 1
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_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set COM_DISARM_LAND 3
param set NAV_ACC_RAD 2.0
param set COM_OF_LOSS_T 5
param set COM_OBL_ACT 2
param set COM_OBL_RC_ACT 0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 5.0
param set RTL_LAND_DELAY 5
param set MIS_TAKEOFF_ALT 2.5
param set MC_ROLLRATE_P 0.2
param set MC_PITCHRATE_P 0.2
param set MC_PITCH_P 6
param set MC_ROLL_P 6
param set MPC_HOLD_MAX_Z 2.0
param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_I 0.15
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set SDLOG_DIRS_MAX 7
param set LPE_FUSION 247
# 11110111 no vis yaw (1 << 3)
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
navigator start
attitude_estimator_q start
local_position_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 50 -s ATTITUDE -u 14556
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -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

97
posix-configs/SITL/init/lpe/standard_vtol
View File

@@ -1,97 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_TYPE 22
param set VT_TYPE 2
param set VT_MOT_COUNT 4
param set VT_F_TRANS_THR 0.75
param set SYS_AUTOSTART 13006
param set SYS_RESTART_TYPE 2
param set SYS_MC_EST_GROUP 1
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 MC_ROLLRATE_P 0.3
param set MC_PITCHRATE_P 0.2
param set MC_PITCH_P 6
param set MC_ROLL_P 6
param set MPC_XY_P 0.5
param set MPC_ACC_HOR_MAX 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.1
param set MPC_XY_VEL_D 0.005
param set MPC_Z_VEL_MAX_DN 1.5
param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_I 0.15
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set FW_AIRSPD_MAX 25
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 5.0
param set NAV_LOITER_RAD 50
param set MPC_TKO_SPEED 1.0
param set MIS_LTRMIN_ALT 10
param set MIS_TAKEOFF_ALT 10
param set MIS_YAW_TMT 10
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set COM_DISARM_LAND 5
param set MPC_ACC_HOR_MAX 2
param set SDLOG_DIRS_MAX 7
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
measairspeedsim start
pwm_out_sim start
sensors start
commander start
land_detector start vtol
navigator start
attitude_estimator_q start
local_position_estimator start
vtol_att_control start
mc_pos_control start
mc_att_control start
fw_pos_control_l1 start
fw_att_control start
mixer load /dev/pwm_output0 etc/mixers-sitl/standard_vtol_sitl.main.mix
mavlink start -x -u 14556 -r 2000000
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 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

83
posix-configs/SITL/init/lpe/typhoon_h480
View File

@@ -1,83 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_TYPE 13
param set SYS_AUTOSTART 6001
param set SYS_RESTART_TYPE 2
param set SYS_MC_EST_GROUP 1
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_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
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 MC_ROLLRATE_P 0.2
param set MC_PITCHRATE_P 0.2
param set MC_PITCH_P 6
param set MC_ROLL_P 6
param set MPC_HOLD_MAX_Z 2.0
param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_I 0.15
param set MPC_XY_VEL_P 0.15
param set MPC_XY_VEL_I 0.2
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set EKF2_MAG_TYPE 1
param set SDLOG_DIRS_MAX 7
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
navigator start
attitude_estimator_q start
local_position_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 etc/mixers/hexa_x.main.mix
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 50 -s ATTITUDE -u 14556
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -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
vmount start
mavlink boot_complete
replay trystart