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54 lines
1.2 KiB
54 lines
1.2 KiB
9 years ago
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uorb start
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param set CAL_GYRO0_ID 2293760
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param set CAL_ACC0_ID 1310720
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param set CAL_ACC1_ID 1376256
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param set CAL_MAG0_ID 196608
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commander start -hil
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sensors 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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pwm_out_sim mode_pwm
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param set RC1_MAX 2015
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param set RC1_MIN 996
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param set RC1_TRIM 1502
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param set RC1_REV -1
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param set RC2_MAX 2016
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param set RC2_MIN 995
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param set RC2_TRIM 1500
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param set RC3_MAX 2003
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param set RC3_MIN 992
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param set RC3_TRIM 992
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param set RC4_MAX 2011
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param set RC4_MIN 997
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param set RC4_TRIM 1504
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param set RC4_REV -1
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param set RC6_MAX 2016
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param set RC6_MIN 992
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param set RC6_TRIM 1504
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param set RC_CHAN_CNT 8
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param set RC_MAP_MODE_SW 5
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param set RC_MAP_POSCTL_SW 7
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param set RC_MAP_RETURN_SW 8
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param set MC_YAW_P 1.5
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param set MC_PITCH_P 3.0
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param set MC_ROLL_P 3.0
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param set MC_YAWRATE_P 0.2
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param set MC_PITCHRATE_P 0.03
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param set MC_ROLLRATE_P 0.03
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param set ATT_W_ACC 0.0002
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param set ATT_W_MAG 0.002
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param set ATT_W_GYRO_BIAS 0.05
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sleep 1
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param set MAV_TYPE 2
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mixer load /dev/pwm_output0 /startup/quad_x.main.mix
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list_devices
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list_files
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list_tasks
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list_topics
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sleep 10
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list_tasks
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sleep 10
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