uorb start
param load
param set MAV_TYPE 22
param set VT_TYPE 2
param set VT_MOT_COUNT 4
param set VT_TRANS_THR 0.75
param set SYS_AUTOSTART 13006
param set SYS_RESTART_TYPE 2
param set SYS_MC_EST_GROUP 1
dataman start
param set BAT_N_CELLS 3
param set CAL_GYRO0_ID 2293768
param set CAL_ACC0_ID 1376264
param set CAL_ACC1_ID 1310728
param set CAL_MAG0_ID 196616
param set CAL_GYRO0_XOFF 0.01
param set CAL_ACC0_XOFF 0.01
param set CAL_ACC0_YOFF -0.01
param set CAL_ACC0_ZOFF 0.01
param set CAL_ACC0_XSCALE 1.01
param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_XOFF 0.01
param set CAL_MAG0_XOFF 0.01
param set MC_ROLLRATE_P 0.3
param set MC_PITCHRATE_P 0.2
param set MC_PITCH_P 6
param set MC_ROLL_P 6
param set MPC_XY_P 0.5
param set MPC_ACC_HOR_MAX 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.1
param set MPC_XY_VEL_D 0.005
param set MPC_Z_VEL_MAX_DN 1.5
param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_I 0.15
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set FW_AIRSPD_MAX 25
param set SENS_BOARD_ROT 0
param set SENS_DPRES_OFF 0.001
param set SENS_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set NAV_ACC_RAD 5.0
param set NAV_LOITER_RAD 50
param set MPC_TKO_SPEED 1.0
param set MIS_LTRMIN_ALT 10
param set MIS_TAKEOFF_ALT 10
param set MIS_YAW_TMT 10
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set COM_DISARM_LAND 5
param set MPC_ACC_HOR_MAX 2
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim mode_pwm
sensors start
commander start
land_detector start multicopter
navigator start
attitude_estimator_q start
local_position_estimator start
vtol_att_control start
mc_pos_control start
mc_att_control start
fw_pos_control_l1 start
fw_att_control start
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 80 -s ATTITUDE -u 14556
mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 80 -s ATTITUDE_TARGET -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
logger start -e -t
mavlink boot_complete
replay trystart