From 2886fe8da31a2676d2432382c768113cf72b1e67 Mon Sep 17 00:00:00 2001
From: Roman <bapstroman@gmail.com>
Date: Thu, 22 Feb 2018 11:31:15 +0100
Subject: [PATCH] posix-configs: added sitl startup script for gazebo quad
 tiltrotor model

Signed-off-by: Roman <bapstroman@gmail.com>
---
 platforms/posix/cmake/sitl_target.cmake |  2 +-
 posix-configs/SITL/init/ekf2/tiltrotor  | 97 +++++++++++++++++++++++++
 2 files changed, 98 insertions(+), 1 deletion(-)
 create mode 100644 posix-configs/SITL/init/ekf2/tiltrotor

diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake
index 9cb9ab4463..362500ea82 100644
--- a/platforms/posix/cmake/sitl_target.cmake
+++ b/platforms/posix/cmake/sitl_target.cmake
@@ -47,7 +47,7 @@ ExternalProject_Add_Step(sitl_gazebo forceconfigure
 # create targets for each viewer/model/debugger combination
 set(viewers none jmavsim gazebo replay)
 set(debuggers none ide gdb lldb ddd valgrind callgrind)
-set(models none iris iris_opt_flow iris_rplidar iris_irlock standard_vtol plane solo tailsitter typhoon_h480 rover hippocampus)
+set(models none iris iris_opt_flow iris_rplidar iris_irlock standard_vtol plane solo tailsitter typhoon_h480 rover hippocampus tiltrotor)
 set(all_posix_vmd_make_targets)
 foreach(viewer ${viewers})
 	foreach(debugger ${debuggers})
diff --git a/posix-configs/SITL/init/ekf2/tiltrotor b/posix-configs/SITL/init/ekf2/tiltrotor
new file mode 100644
index 0000000000..da8cab0a47
--- /dev/null
+++ b/posix-configs/SITL/init/ekf2/tiltrotor
@@ -0,0 +1,97 @@
+uorb start
+param load
+dataman start
+param set BAT_N_CELLS 3
+param set CAL_ACC0_ID 1376264
+param set CAL_ACC0_XOFF 0.01
+param set CAL_ACC0_XSCALE 1.01
+param set CAL_ACC0_YOFF -0.01
+param set CAL_ACC0_YSCALE 1.01
+param set CAL_ACC0_ZOFF 0.01
+param set CAL_ACC0_ZSCALE 1.01
+param set CAL_ACC1_ID 1310728
+param set CAL_ACC1_XOFF 0.01
+param set CAL_GYRO0_ID 2293768
+param set CAL_GYRO0_XOFF 0.01
+param set CAL_MAG0_ID 196616
+param set CAL_MAG0_XOFF 0.01
+param set COM_DISARM_LAND 5
+param set COM_RC_IN_MODE 1
+param set EKF2_AID_MASK 1
+param set EKF2_ANGERR_INIT 0.01
+param set EKF2_GBIAS_INIT 0.01
+param set EKF2_HGT_MODE 0
+param set EKF2_MAG_TYPE 1
+param set FW_AIRSPD_MAX 25
+param set FW_AIRSPD_MIN 14
+param set FW_AIRSPD_TRIM 16
+param set MAV_TYPE 21
+param set MC_PITCH_P 6
+param set MC_PITCHRATE_P 0.2
+param set MC_ROLL_P 6
+param set MC_ROLLRATE_P 0.3
+param set MIS_LTRMIN_ALT 10
+param set MIS_TAKEOFF_ALT 10
+param set MIS_YAW_TMT 10
+param set MPC_ACC_HOR_MAX 2
+param set MPC_ACC_HOR_MAX 2.0
+param set MPC_TKO_SPEED 1.0
+param set MPC_XY_P 0.8
+param set MPC_XY_VEL_D 0.005
+param set MPC_XY_VEL_I 0.2
+param set MPC_XY_VEL_P 0.15
+param set MPC_Z_VEL_I 0.15
+param set MPC_Z_VEL_MAX_DN 1.5
+param set MPC_Z_VEL_P 0.6
+param set NAV_ACC_RAD 5.0
+param set NAV_DLL_ACT 2
+param set NAV_LOITER_RAD 80
+param set RTL_DESCEND_ALT 10.0
+param set RTL_LAND_DELAY 0
+param set RTL_RETURN_ALT 30.0
+param set SDLOG_DIRS_MAX 7
+param set SENS_BOARD_ROT 0
+param set SENS_BOARD_X_OFF 0.000001
+param set SENS_DPRES_OFF 0.001
+param set SYS_AUTOSTART 13006
+param set SYS_MC_EST_GROUP 2
+param set SYS_RESTART_TYPE 2
+param set VT_MOT_COUNT 4
+param set VT_TRANS_THR 0.75
+param set VT_TYPE 1
+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 vtol
+navigator start
+ekf2 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/tiltrotor_sitl.main.mix
+mavlink start -x -u 14556 -r 2000000 -f
+mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 -f
+mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14557
+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