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#!/bin/sh
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# EKF2 replay script
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# shellcheck disable=SC2154
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if [ ! -f ${replay} ]; then
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echo "Invalid replay log file ${replay}"
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exit 1
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fi
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if [ ! -f replay_params.txt ]; then
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echo "Creating $(pwd)/replay_params.txt"
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ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
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fi
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publisher_rules_file="orb_publisher.rules"
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cat <<EOF > "$publisher_rules_file"
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restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected
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module: replay
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ignore_others: false
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EOF
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param set SDLOG_DIRS_MAX 7
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# apply all params before ekf starts, as some params cannot be changed after startup
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replay tryapplyparams
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ekf2 start -r
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logger start -f -t -b 1000 -p vehicle_attitude
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replay start
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