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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
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49614cfe38
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.
75 lines
2.1 KiB
Plaintext
75 lines
2.1 KiB
Plaintext
uorb start
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param load
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param set MAV_TYPE 2
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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 BAT_N_CELLS 3
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param set CAL_GYRO0_ID 2293768
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param set CAL_ACC0_ID 1376264
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param set CAL_ACC1_ID 1310728
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param set CAL_MAG0_ID 196616
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param set CAL_GYRO0_XOFF 0.01
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param set CAL_ACC0_XOFF 0.01
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param set CAL_ACC0_YOFF -0.01
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param set CAL_ACC0_ZOFF 0.01
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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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param set SENS_BOARD_ROT 8
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param set SENS_BOARD_X_OFF 0.000001
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param set COM_RC_IN_MODE 1
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param set NAV_DLL_ACT 2
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param set COM_DISARM_LAND 3
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param set NAV_ACC_RAD 2.0
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param set RTL_RETURN_ALT 30.0
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param set RTL_DESCEND_ALT 10.0
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param set RTL_LAND_DELAY 0
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param set MIS_TAKEOFF_ALT 2.5
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param set MC_ROLLRATE_P 0.2
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param set MC_PITCHRATE_P 0.2
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param set MC_PITCH_P 6
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param set MC_ROLL_P 6
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param set MPC_HOLD_MAX_Z 2.0
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param set MPC_HOLD_XY_DZ 0.1
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param set MPC_Z_VEL_P 0.6
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param set MPC_Z_VEL_I 0.15
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param set EKF2_GBIAS_INIT 0.01
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param set EKF2_ANGERR_INIT 0.01
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replay tryapplyparams
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simulator start -s
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rgbledsim 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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ekf2 start
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mc_pos_control start
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mc_att_control start
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mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
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mavlink start -u 14556 -r 4000000
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mavlink start -u 14557 -r 4000000 -m onboard -o 14540
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mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
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mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
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mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
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mavlink stream -r 50 -s ATTITUDE -u 14556
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mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
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mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
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mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -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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sdlog2 start -r 100 -e -t -a
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mavlink boot_complete
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replay trystart
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