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62 lines
1.7 KiB
62 lines
1.7 KiB
uorb start |
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simulator start -s |
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param load |
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param set MAV_TYPE 2 |
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param set MC_PITCHRATE_P 0.15 |
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param set MC_PITCH_P 7 |
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param set MC_ROLL_P 7 |
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param set MC_ROLLRATE_P 0.15 |
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param set MC_YAW_P 2.8 |
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param set MC_YAWRATE_P 0.35 |
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param set SYS_AUTOSTART 4010 |
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param set SYS_RESTART_TYPE 2 |
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dataman start |
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param set CAL_GYRO0_ID 2293768 |
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param set CAL_ACC0_ID 1376264 |
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param set CAL_ACC1_ID 1310728 |
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param set CAL_MAG0_ID 196616 |
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param set CAL_GYRO0_XOFF 0.01 |
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param set CAL_ACC0_XOFF 0.01 |
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param set CAL_ACC0_YOFF -0.01 |
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param set CAL_ACC0_ZOFF 0.01 |
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param set CAL_ACC0_XSCALE 1.01 |
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param set CAL_ACC0_YSCALE 1.01 |
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param set CAL_ACC0_ZSCALE 1.01 |
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param set CAL_ACC1_XOFF 0.01 |
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param set CAL_MAG0_XOFF 0.01 |
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param set MPC_XY_P 0.4 |
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param set MPC_XY_VEL_P 0.2 |
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param set MPC_XY_VEL_D 0.005 |
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param set SENS_BOARD_ROT 0 |
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param set COM_RC_IN_MODE 1 |
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param set NAV_ACC_RAD 2.0 |
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param set RTL_RETURN_ALT 30.0 |
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param set RTL_DESCEND_ALT 10.0 |
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rgbledsim start |
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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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pwm_out_sim mode_pwm |
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sleep 1 |
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sensors start |
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commander start |
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land_detector start multicopter |
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navigator start |
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mc_pos_control start |
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mc_att_control start |
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mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix |
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mavlink start -u 14556 -r 2000000 |
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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_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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mavlink boot_complete |
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sdlog2 start -r 100 -e -t -a |
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ekf2 start
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