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32 lines
666 B
Bash
32 lines
666 B
Bash
#!/bin/sh
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#
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# @name 3DR Iris Quadrotor SITL (Optical Flow)
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#
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# @type Quadrotor Wide
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#
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. ${R}etc/init.d-posix/airframes/10016_iris
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# EKF2
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param set-default EKF2_AID_MASK 2
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param set-default EKF2_EVP_NOISE 0.05
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param set-default EKF2_EVA_NOISE 0.05
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# LPE: Flow-only mode
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param set-default LPE_FUSION 242
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param set-default LPE_FAKE_ORIGIN 1
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param set-default MPC_ALT_MODE 2
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param set-default MPC_ALT_MODE 2
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# Multi-EKF (off by default)
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param set-default EKF2_MULTI_IMU 0
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param set-default SENS_IMU_MODE 1
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param set-default EKF2_MULTI_MAG 0
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param set-default SENS_MAG_MODE 1
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# log ekf2 replay data
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param set-default SDLOG_PROFILE 3
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param set-default SDLOG_MODE 2
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