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109 lines
3.5 KiB
C
109 lines
3.5 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2015 Mark Charlebois. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file commands_muorb_test.c
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* Commands to run for the "qurt_muorb_test" config
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*
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* @author Mark Charlebois <charlebm@gmail.com>
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*/
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const char *get_commands(void);
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const char *get_commands()
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{
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static const char *commands =
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"uorb start\n"
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"param set CAL_GYRO0_ID 2293760\n"
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"param set CAL_ACC0_ID 1310720\n"
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"param set CAL_ACC1_ID 1376256\n"
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"param set CAL_MAG0_ID 196608\n"
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// "rgbled start\n"
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// "tone_alarm start\n"
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"commander start -hil\n"
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"sensors start\n"
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//"ekf_att_pos_estimator start\n"
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"attitude_estimator_q start\n"
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"position_estimator_inav start\n"
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"mc_pos_control start\n"
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"mc_att_control start\n"
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"sleep 1\n"
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"pwm_out_sim mode_pwm\n"
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"param set RC1_MAX 2015\n"
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"param set RC1_MIN 996\n"
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"param set RC1_TRIM 1502\n"
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"param set RC1_REV -1\n"
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"param set RC2_MAX 2016 \n"
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"param set RC2_MIN 995\n"
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"param set RC2_TRIM 1500\n"
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"param set RC3_MAX 2003\n"
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"param set RC3_MIN 992\n"
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"param set RC3_TRIM 992\n"
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"param set RC4_MAX 2011\n"
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"param set RC4_MIN 997\n"
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"param set RC4_TRIM 1504\n"
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"param set RC4_REV -1\n"
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"param set RC6_MAX 2016\n"
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"param set RC6_MIN 992\n"
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"param set RC6_TRIM 1504\n"
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"param set RC_CHAN_CNT 8\n"
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"param set RC_MAP_MODE_SW 5\n"
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"param set RC_MAP_POSCTL_SW 7\n"
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"param set RC_MAP_RETURN_SW 8\n"
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"param set MC_YAW_P 1.5\n"
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"param set MC_PITCH_P 3.0\n"
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"param set MC_ROLL_P 3.0\n"
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"param set MC_YAWRATE_P 0.2\n"
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"param set MC_PITCHRATE_P 0.03\n"
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"param set MC_ROLLRATE_P 0.03\n"
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"param set ATT_W_ACC 0.0002\n"
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"param set ATT_W_MAG 0.002\n"
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"param set ATT_W_GYRO_BIAS 0.05\n"
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"sleep 1\n"
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"param set MAV_TYPE 2\n"
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"mixer load /dev/pwm_output0 /startup/quad_x.main.mix\n"
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"list_devices\n"
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"list_files\n"
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"list_tasks\n"
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"list_topics\n"
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"sleep 10\n"
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"list_tasks\n"
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"sleep 10\n"
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;
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return commands;
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}
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