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31 lines
665 B
Bash
31 lines
665 B
Bash
#!/bin/sh
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# EKF2 replay script
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# shellcheck disable=SC2154
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if [ ! -f ${replay} ]; then
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echo "Invalid replay log file ${replay}"
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exit 1
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fi
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if [ ! -f replay_params.txt ]; then
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echo "Creating $(pwd)/replay_params.txt"
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ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
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fi
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param set SDLOG_DIRS_MAX 7
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# TODO:
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# input: trajector_setpoint
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# output: vehicle_local_position_setpoint vehicle_attitude_setpoint
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# apply all params before ekf starts, as some params cannot be changed after startup
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#replay tryapplyparams
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mc_pos_control start
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mc_att_control start
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mc_rate_control start
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logger start -f -t -b 1000 -p vehicle_attitude
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replay start
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