You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
92 lines
2.6 KiB
92 lines
2.6 KiB
uorb start |
|
param load |
|
param set MAV_TYPE 22 |
|
param set VT_TYPE 2 |
|
param set VT_MOT_COUNT 4 |
|
param set VT_TRANS_THR 0.75 |
|
param set SYS_AUTOSTART 13006 |
|
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 MC_ROLLRATE_P 0.3 |
|
param set MC_PITCHRATE_P 0.2 |
|
param set MC_PITCH_P 6 |
|
param set MC_ROLL_P 6 |
|
param set MPC_XY_P 0.5 |
|
param set MPC_ACC_HOR_MAX 1.0 |
|
param set MPC_XY_VEL_P 0.1 |
|
param set MPC_XY_VEL_I 0.1 |
|
param set MPC_XY_VEL_D 0.005 |
|
param set MPC_Z_VEL_MAX_DN 1.5 |
|
param set MPC_Z_VEL_P 0.6 |
|
param set MPC_Z_VEL_I 0.15 |
|
param set FW_AIRSPD_MIN 14 |
|
param set FW_AIRSPD_TRIM 16 |
|
param set FW_AIRSPD_MAX 25 |
|
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 5.0 |
|
param set NAV_LOITER_RAD 50 |
|
param set MPC_TKO_SPEED 1.0 |
|
param set MIS_LTRMIN_ALT 10 |
|
param set MIS_TAKEOFF_ALT 10 |
|
param set MIS_YAW_TMT 10 |
|
param set RTL_RETURN_ALT 30.0 |
|
param set RTL_DESCEND_ALT 10.0 |
|
param set RTL_LAND_DELAY 0 |
|
param set COM_DISARM_LAND 5 |
|
param set MPC_ACC_HOR_MAX 2 |
|
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 |
|
land_detector start multicopter |
|
navigator start |
|
attitude_estimator_q start |
|
local_position_estimator 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/sitl/mixers/standard_vtol_sitl.main.mix |
|
mavlink start -u 14556 -r 2000000 |
|
mavlink start -u 14557 -r 2000000 -m onboard -o 14540 |
|
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 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
|
|
|