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#!nsh
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#
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# @name 3DR Iris Quadrotor SITL (Optical Flow)
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#
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# @type Quadrotor Wide
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#
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sh /etc/init.d-posix/10016_iris
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if [ $AUTOCNF = yes ]
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then
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param set EKF2_AID_MASK 2
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param set EKF2_EV_DELAY 5
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param set EKF2_EVP_NOISE 0.05
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param set EKF2_EVA_NOISE 0.05
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param set INAV_LIDAR_EST 1
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param set INAV_W_XY_FLOW 1.0
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param set INAV_W_XY_GPS_P 0.0
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param set INAV_W_XY_GPS_V 0.0
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param set INAV_W_Z_GPS_P 0.0
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# LPE: Flow-only mode
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param set LPE_FUSION 242
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param set LPE_FAKE_ORIGIN 1
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param set MPC_ALT_MODE 2
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fi
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