uorb start
param load
dataman start
param set BAT_N_CELLS 3
param set CAL_ACC0_ID 1376264
param set CAL_ACC0_XOFF 0.001
param set CAL_ACC0_XSCALE 1.0001
param set CAL_ACC0_YOFF -0.001
param set CAL_ACC0_YSCALE 1.0001
param set CAL_ACC0_ZOFF 0.001
param set CAL_ACC0_ZSCALE 1.0001
param set CAL_ACC1_ID 1310728
param set CAL_ACC1_XOFF 0.001
param set CAL_GYRO0_ID 2293768
param set CAL_GYRO0_XOFF 0.001
param set CAL_MAG0_ID 196616
param set CAL_MAG0_XOFF 0.001
param set COM_DISARM_LAND 3
param set COM_RC_IN_MODE 1
param set EKF2_AID_MASK 1
param set EKF2_ANGERR_INIT 0.01
param set EKF2_GBIAS_INIT 0.01
param set EKF2_HGT_MODE 0
param set EKF2_MAG_TYPE 1
param set MAV_TYPE 13
param set MC_PITCH_P 6
param set MC_PITCHRATE_P 0.1
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.1
param set MIS_TAKEOFF_ALT 2.5
param set MPC_HOLD_MAX_Z 2.0
param set MPC_XY_VEL_I 0.2
param set MPC_XY_VEL_P 0.15
param set MPC_Z_VEL_I 0.15
param set MPC_Z_VEL_P 0.6
param set NAV_ACC_RAD 2.0
param set NAV_DLL_ACT 2
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set RTL_RETURN_ALT 30.0
param set SDLOG_DIRS_MAX 7
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set SYS_AUTOSTART 6001
param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2
param set TRIG_INTERFACE 3
param set TRIG_MODE 4
param set MNT_MODE_IN 0
param set MAV_PROTO_VER 2
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
navigator start
ekf2 start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix
mixer append /dev/pwm_output0 ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 50 -s ATTITUDE -u 14556
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
mavlink stream -r 20 -s RC_CHANNELS -u 14556
mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
mavlink stream -r 10 -s MOUNT_ORIENTATION -u 14556
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14557
mavlink stream -r 10 -s MOUNT_ORIENTATION -u 14557
logger start -e -t
vmount start
camera_trigger start
mavlink boot_complete
replay trystart