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100 lines
2.8 KiB
100 lines
2.8 KiB
uorb start |
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param load |
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dataman start |
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param set BAT_N_CELLS 3 |
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param set CAL_ACC0_ID 1376264 |
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param set CAL_ACC0_XOFF 0.01 |
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param set CAL_ACC0_XSCALE 1.01 |
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param set CAL_ACC0_YOFF -0.01 |
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param set CAL_ACC0_YSCALE 1.01 |
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param set CAL_ACC0_ZOFF 0.01 |
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param set CAL_ACC0_ZSCALE 1.01 |
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param set CAL_ACC1_ID 1310728 |
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param set CAL_ACC1_XOFF 0.01 |
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param set CAL_GYRO0_ID 2293768 |
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param set CAL_GYRO0_XOFF 0.01 |
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param set CAL_MAG0_ID 196616 |
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param set CAL_MAG0_XOFF 0.01 |
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param set COM_DISARM_LAND 5 |
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param set COM_RC_IN_MODE 1 |
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param set EKF2_AID_MASK 1 |
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param set EKF2_ANGERR_INIT 0.01 |
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param set EKF2_GBIAS_INIT 0.01 |
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param set EKF2_HGT_MODE 0 |
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param set EKF2_MAG_TYPE 1 |
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param set FW_AIRSPD_MAX 25 |
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param set FW_AIRSPD_MIN 14 |
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param set FW_AIRSPD_TRIM 16 |
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param set MAV_TYPE 21 |
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param set MC_PITCH_P 6 |
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param set MC_PITCHRATE_P 0.2 |
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param set MC_ROLL_P 6 |
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param set MC_ROLLRATE_P 0.3 |
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param set MIS_LTRMIN_ALT 10 |
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param set MIS_TAKEOFF_ALT 10 |
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param set MIS_YAW_TMT 10 |
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param set MPC_ACC_HOR_MAX 2 |
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param set MPC_ACC_HOR_MAX 2.0 |
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param set MPC_TKO_SPEED 1.0 |
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param set MPC_XY_P 0.8 |
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param set MPC_XY_VEL_D 0.005 |
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param set MPC_XY_VEL_I 0.2 |
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param set MPC_XY_VEL_P 0.15 |
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param set MPC_Z_VEL_I 0.15 |
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param set MPC_Z_VEL_MAX_DN 1.5 |
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param set MPC_Z_VEL_P 0.6 |
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param set NAV_ACC_RAD 5.0 |
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param set NAV_DLL_ACT 2 |
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param set NAV_LOITER_RAD 80 |
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param set RTL_DESCEND_ALT 10.0 |
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param set RTL_LAND_DELAY 0 |
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param set RTL_RETURN_ALT 30.0 |
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param set SDLOG_DIRS_MAX 7 |
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param set SENS_BOARD_ROT 0 |
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param set SENS_BOARD_X_OFF 0.000001 |
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param set SENS_DPRES_OFF 0.001 |
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param set SYS_AUTOSTART 13006 |
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param set SYS_MC_EST_GROUP 2 |
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param set SYS_RESTART_TYPE 2 |
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param set VT_MOT_COUNT 4 |
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param set VT_F_TRANS_THR 0.75 |
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param set VT_TYPE 1 |
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param set VT_TILT_FW 3.1415 |
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param set VT_TILT_TRANS 1.2 |
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replay tryapplyparams |
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simulator start -s |
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tone_alarm start |
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gyrosim start |
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accelsim start |
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barosim start |
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adcsim start |
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gpssim start |
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measairspeedsim start |
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pwm_out_sim start |
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sensors start |
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commander start |
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land_detector start vtol |
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navigator start |
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ekf2 start |
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vtol_att_control start |
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mc_pos_control start |
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mc_att_control start |
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fw_pos_control_l1 start |
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fw_att_control start |
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wind_estimator start |
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mixer load /dev/pwm_output0 ROMFS/sitl/mixers/tiltrotor_sitl.main.mix |
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mavlink start -x -u 14556 -r 2000000 -f |
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mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 -f |
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mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14557 |
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mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 |
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mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 |
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mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556 |
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mavlink stream -r 80 -s ATTITUDE -u 14556 |
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mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556 |
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mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556 |
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mavlink stream -r 20 -s RC_CHANNELS -u 14556 |
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mavlink stream -r 250 -s HIGHRES_IMU -u 14556 |
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mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556 |
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logger start -e -t |
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mavlink boot_complete |
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replay trystart
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