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29 lines
705 B
29 lines
705 B
#!/bin/sh |
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# EKF2 replay script |
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# shellcheck disable=SC2154 |
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if [ ! -f ${replay} ]; then |
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echo "Invalid replay log file ${replay}" |
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exit 1 |
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fi |
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if [ ! -f replay_params.txt ]; then |
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echo "Creating $(pwd)/replay_params.txt" |
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ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt |
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fi |
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publisher_rules_file="orb_publisher.rules" |
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cat <<EOF > "$publisher_rules_file" |
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restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected |
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module: replay |
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ignore_others: false |
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EOF |
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param set SDLOG_DIRS_MAX 7 |
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# apply all params before ekf starts, as some params cannot be changed after startup |
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replay tryapplyparams |
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ekf2 start -r |
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logger start -f -t -b 1000 -p vehicle_attitude |
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replay start
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