uorb start
simulator start -s -u _SIMPORT_
param load
param set MAV_TYPE 2
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
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 0.2
param set MC_PITCHRATE_P 0.2
param set MC_PITCH_P 6
param set MC_ROLL_P 6
param set MPC_XY_P 0.15
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 SENS_BOARD_ROT 8
param set COM_RC_IN_MODE 1
param set NAV_ACC_RAD 2.0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
rgbledsim start
tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm
sleep 1
sensors start
commander start
land_detector start multicopter
navigator start
attitude_estimator_q start
position_estimator_inav start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 quad_w.main.mix
mavlink start -u _MAVPORT_ -r 2000000 -o _MAVOPORT_
mavlink start -u _MAVPORT2_ -r 2000000 -m onboard -o _MAVOPORT2_
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u _MAVPORT_
mavlink stream -r 80 -s LOCAL_POSITION_NED -u _MAVPORT_
mavlink stream -r 80 -s GLOBAL_POSITION_INT -u _MAVPORT_
mavlink stream -r 80 -s ATTITUDE -u _MAVPORT_
mavlink stream -r 80 -s ATTITUDE_TARGET -u _MAVPORT_
mavlink stream -r 20 -s RC_CHANNELS -u _MAVPORT_
mavlink stream -r 250 -s HIGHRES_IMU -u _MAVPORT_
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u _MAVPORT_
sdlog2 start -r 100 -e -t -a
mavlink boot_complete