uorb start
param load
param set MAV_TYPE 20
param set MC_PITCHRATE_P 0.3
param set MC_ROLLRATE_P 0.3
param set MC_YAW_P 2.0
param set MC_YAWRATE_P 0.35
param set VT_TYPE 2
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
dataman start
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 MPC_XY_P 0.15
param set MPC_XY_VEL_P 0.05
param set MPC_XY_VEL_D 0.005
param set MPC_XY_FF 0.1
param set MPC_Z_VEL_MAX 1.5
param set MPC_Z_VEL_P 0.8
param set MPC_Z_VEL_I 0.15
param set SENS_BOARD_ROT 8
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 3.0
param set MPC_TKO_SPEED 1.0
param set MIS_YAW_TMT 10
simulator start -s
rgbledsim start
tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim mode_pwm
sleep 1
sensors start
commander start
land_detector start multicopter
navigator start
ekf2 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/px4fmu_common/mixers/standard_vtol_sitl.main.mix
mavlink start -u 14556 -r 2000000 -t 127.0.0.1
mavlink start -u 14557 -r 2000000 -m onboard -o 14540 -t 127.0.0.1
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
mavlink boot_complete
sdlog2 start -r 200 -e -t -a