mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-15 16:31:35 +08:00
31 lines
665 B
Bash
31 lines
665 B
Bash
#!/bin/sh
|
|
|
|
# EKF2 replay script
|
|
|
|
# shellcheck disable=SC2154
|
|
if [ ! -f ${replay} ]; then
|
|
echo "Invalid replay log file ${replay}"
|
|
exit 1
|
|
fi
|
|
|
|
if [ ! -f replay_params.txt ]; then
|
|
echo "Creating $(pwd)/replay_params.txt"
|
|
ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
|
|
fi
|
|
|
|
param set SDLOG_DIRS_MAX 7
|
|
|
|
# TODO:
|
|
# input: trajector_setpoint
|
|
# output: vehicle_local_position_setpoint vehicle_attitude_setpoint
|
|
|
|
# apply all params before ekf starts, as some params cannot be changed after startup
|
|
#replay tryapplyparams
|
|
|
|
mc_pos_control start
|
|
mc_att_control start
|
|
mc_rate_control start
|
|
|
|
logger start -f -t -b 1000 -p vehicle_attitude
|
|
replay start
|