posix_configs: add LPE iris_vision config

posix-configs/SITL/init/lpe/iris_vision

@@ -0,0 +1,94 @@
+uorb start
+param load
+param set MAV_TYPE 2
+param set SYS_AUTOSTART 4010
+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_BOARD_X_OFF 0.000001
+param set COM_RC_IN_MODE 1
+param set NAV_DLL_ACT 2
+param set COM_DISARM_LAND 3
+param set NAV_ACC_RAD 2.0
+param set RTL_RETURN_ALT 30.0
+param set RTL_DESCEND_ALT 10.0
+param set RTL_LAND_DELAY 0
+param set MIS_TAKEOFF_ALT 2.5
+param set MC_ROLLRATE_P 0.3
+param set MC_PITCHRATE_P 0.3
+param set MC_PITCH_P 5.5
+param set MC_ROLL_P 5.5
+param set MC_ROLLRATE_I 0.1
+param set MC_PITCHRATE_I 0.1
+param set MPC_HOLD_MAX_Z 2.0
+param set MPC_Z_VEL_P 0.8
+param set MPC_Z_VEL_I 0.15
+param set MPC_XY_VEL_P 0.15
+param set MPC_XY_VEL_I 0.2
+param set SDLOG_DIRS_MAX 7
+param set MC_PITCH_P 5.0
+param set MC_ROLL_P 5.0
+param set MC_ROLLRATE_P 0.2
+param set MC_PITCHRATE_P 0.2
+param set MC_ROLLRATE_I 0.05
+param set MC_PITCHRATE_I 0.05
+param set MPC_ALT_MODE 1
+param set LPE_T_MAX_GRADE 0
+param set MPC_XY_VEL_MAX 2
+param set MPC_Z_VEL_MAX_DN 2
+param set MPC_TILTMAX_AIR 10
+param set MPC_TILTMAX_LND 10
+param set MPC_XY_P 0.5
+param set MIS_TAKEOFF_ALT 2
+param set NAV_ACC_RAD 1.0
+param set CBRK_GPSFAIL 240024
+# Vision + baro
+param set LPE_FUSION 132
+
+replay tryapplyparams
+simulator start -s
+tone_alarm start
+gyrosim start
+accelsim start
+barosim start
+gpssim start
+pwm_out_sim start
+sensors start
+commander start
+land_detector start multicopter
+navigator start
+attitude_estimator_q start
+local_position_estimator start
+mc_pos_control start
+mc_att_control start
+mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+mavlink start -x -u 14556 -r 2000000
+mavlink start -x -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
+mavlink stream -r 80 -s VISION_POSITION_ESTIMATE -u 14556
+logger start -e -t
+mavlink boot_complete
+replay trystart