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uorb start
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param select /home/root/parameters
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param load
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param set SYS_AUTOSTART 4013
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param set MAV_BROADCAST 1
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param set MAV_TYPE 3
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param set MC_ROLL_P 6.5
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param set MC_ROLLRATE_P 0.109999999403953552
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param set MC_ROLLRATE_I 0.0
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param set MC_ROLLRATE_D 0.0006
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param set MC_PITCH_P 6.5
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param set MC_PITCHRATE_P 0.1
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param set MC_PITCHRATE_I 0.0
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param set MC_PITCHRATE_D 0.000799999
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param set MC_YAW_P 1.049999
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param set MC_YAWRATE_P 0.05
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param set MC_YAWRATE_I 0.001
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param set MC_YAWRATE_D 0.0
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param set MC_YAW_FF 0.7
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df_ms5607_wrapper start
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df_mpu6050_wrapper start -R 8
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df_ak8963_wrapper start -R 32
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gps start -d /dev/ttyPA1
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sensors start
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commander start
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attitude_estimator_q start
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position_estimator_inav start
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mc_pos_control start
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mc_att_control start
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sleep 1
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mavlink start -u 14556 -r 1000000
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sleep 1
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mavlink stream -u 14556 -s HIGHRES_IMU -r 50
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mavlink stream -u 14556 -s ATTITUDE -r 50
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df_bebop_bus_wrapper start
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mavlink boot_complete
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