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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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param set SYS_MC_EST_GROUP 1
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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 0
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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 0.3
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param set MC_PITCHRATE_P 0.3
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param set MC_PITCH_P 5.5
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param set MC_ROLL_P 5.5
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param set MC_ROLLRATE_I 0.1
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param set MC_PITCHRATE_I 0.1
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param set MPC_HOLD_MAX_Z 2.0
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param set MPC_Z_VEL_P 0.8
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param set MPC_Z_VEL_I 0.15
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param set MPC_XY_VEL_P 0.15
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param set MPC_XY_VEL_I 0.2
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param set SDLOG_DIRS_MAX 7
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# changes for optical flow navigation
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param set MC_PITCH_P 5.0
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param set MC_ROLL_P 5.0
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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_ROLLRATE_I 0.05
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param set MC_PITCHRATE_I 0.05
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param set MPC_ALT_MODE 1
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param set LPE_T_MAX_GRADE 0
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param set MPC_XY_VEL_MAX 2
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param set MPC_Z_VEL_MAX_DN 2
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param set MPC_TILTMAX_AIR 10
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param set MPC_TILTMAX_LND 10
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param set MPC_XY_P 0.5
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param set MIS_TAKEOFF_ALT 2
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param set NAV_ACC_RAD 1.0
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param set CBRK_GPSFAIL 240024
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# 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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replay tryapplyparams
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simulator start -s
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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 start
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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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attitude_estimator_q start
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local_position_estimator 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_w.main.mix
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mavlink start -x -u 14556 -r 2000000
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mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
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mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
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mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
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mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
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mavlink stream -r 80 -s ATTITUDE -u 14556
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mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
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mavlink stream -r 80 -s ATTITUDE_TARGET -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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logger start -e -t
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mavlink boot_complete
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replay trystart
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