From 2d25ef36bb36a7e12d19d574bddbde5b3acc0201 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 12 Mar 2016 12:06:17 +0100 Subject: [PATCH] Complete plane config --- posix-configs/SITL/init/rcS_gazebo_plane | 56 ++++++++++++++++++++++++ 1 file changed, 56 insertions(+) diff --git a/posix-configs/SITL/init/rcS_gazebo_plane b/posix-configs/SITL/init/rcS_gazebo_plane index e69de29bb2..9242f13998 100644 --- a/posix-configs/SITL/init/rcS_gazebo_plane +++ b/posix-configs/SITL/init/rcS_gazebo_plane @@ -0,0 +1,56 @@ +uorb start +simulator start -s +param load +param set MAV_TYPE 1 +param set SYS_AUTOSTART 3033 +param set SYS_RESTART_TYPE 2 +dataman start +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 8 +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_ACC_RAD 15.0 +param set FW_THR_IDLE 0.4 +rgbledsim start +tone_alarm start +gyrosim start +accelsim start +barosim start +adcsim start +gpssim start +measairspeedsim start +pwm_out_sim mode_pwm +sleep 1 +sensors start +commander start +land_detector start fixedwing +navigator start +ekf2 start +fw_pos_control_l1 start +fw_att_control start +mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/plane_sitl.main.mix +mavlink start -u 14556 -r 2000000 +mavlink start -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_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 boot_complete +sdlog2 start -r 200 -e -t -a