From 9a6f52736bb230f61f34246801c74f6c61502ec2 Mon Sep 17 00:00:00 2001
From: devbharat <bharat.tak8@gmail.com>
Date: Thu, 23 Jul 2015 15:45:59 +0200
Subject: [PATCH 1/3] Added launchfile to launch gazebo iris and mavros bridge.
 Added sitl_gazebo to makefile and new init rc file for gazebo iris apps and
 params

---
 Makefile                            |  3 +-
 posix-configs/SITL/init/rcS         |  3 +-
 posix-configs/SITL/init/rc_iris_ros | 69 +++++++++++++++++++++++++++++
 3 files changed, 73 insertions(+), 2 deletions(-)
 create mode 100644 posix-configs/SITL/init/rc_iris_ros

diff --git a/Makefile b/Makefile
index 06ba4ae4bf..4632699433 100644
--- a/Makefile
+++ b/Makefile
@@ -200,7 +200,8 @@ endif
 
 sitl_quad:
 	$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rcS
-
+sitl_quad_gazebo:
+	$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rc_iris_ros
 sitl_plane:
 	$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rc.fixed_wing
 
diff --git a/posix-configs/SITL/init/rcS b/posix-configs/SITL/init/rcS
index c303335c3e..7388259bc5 100644
--- a/posix-configs/SITL/init/rcS
+++ b/posix-configs/SITL/init/rcS
@@ -26,6 +26,7 @@ param set CAL_MAG0_XOFF 0.01
 param set MPC_XY_P 0.4
 param set MPC_XY_VEL_P 0.2
 param set MPC_XY_VEL_D 0.005
+param set SENS_BOARD_ROT 0
 rgbled start
 tone_alarm start
 gyrosim start
@@ -50,4 +51,4 @@ 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 250 -s HIGHRES_IMU -u 14556
\ No newline at end of file
diff --git a/posix-configs/SITL/init/rc_iris_ros b/posix-configs/SITL/init/rc_iris_ros
new file mode 100644
index 0000000000..55710caaa7
--- /dev/null
+++ b/posix-configs/SITL/init/rc_iris_ros
@@ -0,0 +1,69 @@
+uorb start
+simulator start -s
+param load
+param set MAV_TYPE 2
+param set MC_PITCHRATE_P 0.15
+param set MC_ROLLRATE_P 0.15
+param set MC_YAW_P 2.0
+param set MC_YAWRATE_P 0.35
+param set SYS_AUTOSTART 4010
+param set SYS_RESTART_TYPE 2
+param set COM_RC_IN_MODE 2
+dataman start
+param set CAL_GYRO0_ID 2293760
+param set CAL_ACC0_ID 1376256
+param set CAL_ACC1_ID 1310720
+param set CAL_MAG0_ID 196608
+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 MPC_XY_P 0.4
+param set MPC_XY_VEL_P 0.2
+param set MPC_XY_VEL_D 0.005
+param set MPP_XY_P 1.0
+param set MPP_XY_FF 0.0
+param set MPP_XY_VEL_P 0.01
+param set MPP_XY_VEL_I 0.0
+param set MPP_XY_VEL_D 0.01
+param set MPP_XY_VEL_MAX 2.0
+param set MPP_Z_VEL_P 0.3
+param set MPP_Z_P 2
+param set SENS_BOARD_ROT 8
+param set MP_ROLL_P 3
+param set MP_ROLLRATE_P 0.3
+param set MP_ROLLRATE_I 0.001
+param set MP_ROLLRATE_D 0.001
+param set MP_PITCH_P 4
+param set MP_PITCHRATE_P 0.3
+rgbled start
+tone_alarm start
+gyrosim start
+accelsim start
+barosim start
+adcsim start
+gpssim start
+hil mode_pwm
+commander start
+sensors start
+land_detector start multicopter
+navigator start
+attitude_estimator_q start
+position_estimator_inav start
+mc_pos_control_m start
+mc_att_control_m start
+mixer load /dev/pwm_output0 ../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
+mavlink start -u 14556 -r 2000000
+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
+

From 6a40c173fda5ccd4adfde239cb074acb2a01bb66 Mon Sep 17 00:00:00 2001
From: devbharat <bharat.tak8@gmail.com>
Date: Thu, 23 Jul 2015 18:54:58 +0200
Subject: [PATCH 2/3] Added the launch file

---
 launch/gazebo_iris_mavros_posix_sitl.launch | 26 +++++++++++++++++++++
 posix-configs/SITL/init/rcS                 |  2 +-
 2 files changed, 27 insertions(+), 1 deletion(-)
 create mode 100644 launch/gazebo_iris_mavros_posix_sitl.launch

diff --git a/launch/gazebo_iris_mavros_posix_sitl.launch b/launch/gazebo_iris_mavros_posix_sitl.launch
new file mode 100644
index 0000000000..2633524daa
--- /dev/null
+++ b/launch/gazebo_iris_mavros_posix_sitl.launch
@@ -0,0 +1,26 @@
+<launch>
+
+    <arg name="headless" default="false"/>
+    <arg name="gui" default="true"/>
+    <arg name="enable_logging" default="false"/>
+    <arg name="enable_ground_truth" default="true"/>
+    <arg name="ns" default="iris"/>
+    <arg name="log_file" default="$(arg ns)"/>
+    <arg name="mavlink_bridge_url" default="udp://localhost:14553@localhost:14560" />
+
+    <include file="$(find rotors_gazebo)/launch/iris_empty_world.launch">
+        <arg name="headless" value="$(arg headless)"/>
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="enable_logging" value="$(arg enable_logging)" />
+        <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
+        <arg name="log_file" value="$(arg log_file)"/>
+    </include>
+    <include file="$(find px4)/launch/iris.launch">
+	<arg name="ns" value="$(arg ns)"/>
+    </include>
+    <include file="$(find mavros)/launch/mavlink_bridge.launch">
+    <arg name="mavlink_bridge_url" value="$(arg mavlink_bridge_url)" />
+    <arg name="ns" value="$(arg ns)"/>
+    </include>
+
+</launch>
diff --git a/posix-configs/SITL/init/rcS b/posix-configs/SITL/init/rcS
index 7388259bc5..a1a73f8942 100644
--- a/posix-configs/SITL/init/rcS
+++ b/posix-configs/SITL/init/rcS
@@ -51,4 +51,4 @@ 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
\ No newline at end of file
+mavlink stream -r 250 -s HIGHRES_IMU -u 14556

From 53cc0709257c489969e41360eb3dfc308435da23 Mon Sep 17 00:00:00 2001
From: devbharat <bharat.tak8@gmail.com>
Date: Thu, 23 Jul 2015 19:12:45 +0200
Subject: [PATCH 3/3] Removed unnecessary iris.launch from launch file

---
 launch/gazebo_iris_mavros_posix_sitl.launch | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/launch/gazebo_iris_mavros_posix_sitl.launch b/launch/gazebo_iris_mavros_posix_sitl.launch
index 2633524daa..8662dad9a8 100644
--- a/launch/gazebo_iris_mavros_posix_sitl.launch
+++ b/launch/gazebo_iris_mavros_posix_sitl.launch
@@ -15,9 +15,6 @@
         <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
         <arg name="log_file" value="$(arg log_file)"/>
     </include>
-    <include file="$(find px4)/launch/iris.launch">
-	<arg name="ns" value="$(arg ns)"/>
-    </include>
     <include file="$(find mavros)/launch/mavlink_bridge.launch">
     <arg name="mavlink_bridge_url" value="$(arg mavlink_bridge_url)" />
     <arg name="ns" value="$(arg ns)"/>