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#!/bin/sh
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# EKF2 replay script
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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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uorb start
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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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sleep 0.2
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replay start
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