uorb start
param load
param set MAV_TYPE 1
param set SYS_AUTOSTART 3033
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 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 15.0
param set NAV_LOITER_RAD 50
param set MIS_LTRMIN_ALT 30
param set MIS_TAKEOFF_ALT 30

param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set EKF2_MAG_TYPE 1

param set FW_THR_IDLE 0.15
param set FW_LND_ANG 8

param set FW_R_TC 0.7
param set FW_RR_FF 0.20
param set FW_RR_I 0.02
param set FW_RR_P 0.22

param set FW_P_TC 0.5
param set FW_PR_FF 0.40
param set FW_PR_I 0.05
param set FW_PR_P 0.05

param set FW_W_EN 1
param set RWTO_TKOFF 1

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
navigator start
local_position_estimator start
fw_pos_control_l1 start
fw_att_control start
land_detector start fixedwing
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/plane_sitl.main.mix
mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard -o 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