uorb start
param select /home/root/parameters
param load
param set SYS_AUTOSTART 4013
param set MAV_BROADCAST 1
param set MAV_TYPE 3
param set MPC_XY_VEL_P 0.12
param set MPC_XY_P 1.3
param set MPC_XY_VEL_D 0.002
param set MPC_XY_VEL_I 0.05
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.109999999403953552
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.0006
param set MC_PITCH_P 6.5
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.000799999
param set MC_YAW_P 1.049999
param set MC_YAWRATE_P 0.05
param set MC_YAWRATE_I 0.001
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.7
df_ms5607_wrapper start
df_mpu6050_wrapper start -R 8
df_ak8963_wrapper start -R 32
gps start -d /dev/ttyPA1
sensors start
commander start
ekf2 start
dataman start
navigator start
land_detector start multicopter
mc_pos_control start
mc_att_control start
sleep 1
mavlink start -u 14556 -r 1000000
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50
df_bebop_bus_wrapper start
mavlink boot_complete
logger start -b 200 -e -t