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SITL init scripts: add replay tryapplyparams & replay trystart

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These will only start replay if there's an environment variable 'replay',
otherwise they do nothing.

We apply the parameters even before loading the modules, so that the
modules 'see' the same state as the recorded system had. We will have to
see how well this works in practice.
This commit is contained in:
Beat Küng
2016-06-30 15:41:17 +02:00
parent db13ac4c53
commit 49614cfe38
11 changed files with 24 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
posix-configs/SITL/init/rcS_gazebo_iris
+2
View File
@@ -41,6 +41,7 @@ param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_I 0.15
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
replay tryapplyparams
simulator start -s
rgbledsim start
tone_alarm start
@@ -73,3 +74,4 @@ mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
sdlog2 start -r 100 -e -t -a
mavlink boot_complete
replay trystart
posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
+2
View File
@@ -40,6 +40,7 @@ param set MPC_Z_VEL_P 0.8
param set MPC_Z_VEL_I 0.15
param set MPC_XY_VEL_P 0.15
param set MPC_XY_VEL_I 0.2
replay tryapplyparams
simulator start -s
rgbledsim start
tone_alarm start
@@ -72,3 +73,4 @@ mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
sdlog2 start -r 100 -e -t -a
mavlink boot_complete
replay trystart
posix-configs/SITL/init/rcS_gazebo_plane
+2
View File
@@ -25,6 +25,7 @@ param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set NAV_ACC_RAD 15.0
param set FW_THR_IDLE 0.8
replay tryapplyparams
simulator start -s
rgbledsim start
tone_alarm start
@@ -57,3 +58,4 @@ mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
sdlog2 start -r 200 -e -t -a
mavlink boot_complete
replay trystart
posix-configs/SITL/init/rcS_gazebo_solo
+2
View File
@@ -38,6 +38,7 @@ param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_I 0.15
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
replay tryapplyparams
simulator start -s
rgbledsim start
tone_alarm start
@@ -70,3 +71,4 @@ mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
sdlog2 start -r 100 -e -t -a
mavlink boot_complete
replay trystart
posix-configs/SITL/init/rcS_gazebo_standard_vtol
+2
View File
@@ -47,6 +47,7 @@ param set MPC_ACC_HOR_MAX 2
param set GF_ACTION 3
param set GF_MAX_HOR_DIST 500
param set GF_MAX_VER_DIST 500
replay tryapplyparams
simulator start -s
rgbledsim start
tone_alarm start
@@ -82,3 +83,4 @@ mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
sdlog2 start -r 200 -e -t -a
mavlink boot_complete
replay trystart
posix-configs/SITL/init/rcS_gazebo_tailsitter
+2
View File
@@ -35,6 +35,7 @@ param set SENS_DPRES_OFF 0.001
param set SENS_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
replay tryapplyparams
simulator start -s
rgbledsim start
tone_alarm start
@@ -70,3 +71,4 @@ mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
sdlog2 start -r 200 -e -t -a
mavlink boot_complete
replay trystart
posix-configs/SITL/init/rcS_gazebo_typhoon_h480
+2
View File
@@ -40,6 +40,7 @@ param set MPC_XY_VEL_P 0.15
param set MPC_XY_VEL_I 0.2
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
replay tryapplyparams
simulator start -s
rgbledsim start
tone_alarm start
@@ -72,3 +73,4 @@ mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
sdlog2 start -r 100 -e -t -a
mavlink boot_complete
replay trystart
posix-configs/SITL/init/rcS_jmavsim_iris
+4
View File
@@ -41,6 +41,7 @@ param set MPC_Z_VEL_MAX 2.0
param set MPC_Z_VEL_P 0.4
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
replay tryapplyparams
simulator start -s
rgbledsim start
tone_alarm start
@@ -49,6 +50,7 @@ accelsim start
barosim start
adcsim start
gpssim start
#gps start -d /dev/ttyACM0 -s
pwm_out_sim mode_pwm
sleep 1
sensors start
@@ -72,4 +74,6 @@ mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
mavlink stream -r 20 -s MANUAL_CONTROL -u 14556
sdlog2 start -r 100 -e -t -a
logger start -e -t
mavlink boot_complete
replay trystart
posix-configs/SITL/init/rcS_lpe_gazebo_iris
+2
View File
@@ -35,6 +35,7 @@ param set SENS_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set LPE_BETA_MAX 10000
replay tryapplyparams
simulator start -s
rgbled start
tone_alarm start
@@ -70,3 +71,4 @@ sdlog2 start -r 100 -e -t -a
sleep 5
local_position_estimator start
mavlink boot_complete
replay trystart
posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow
+2
View File
@@ -39,6 +39,7 @@ param set RTL_DESCEND_ALT 10.0
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set LPE_BETA_MAX 10000
replay tryapplyparams
simulator start -s
rgbledsim start
tone_alarm start
@@ -74,3 +75,4 @@ sdlog2 start -r 100 -e -t -a
sleep 5
local_position_estimator start
mavlink boot_complete
replay trystart
posix-configs/SITL/init/rcS_multiple_gazebo_iris
+2
View File
@@ -32,6 +32,7 @@ param set COM_RC_IN_MODE 1
param set NAV_ACC_RAD 2.0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
replay tryapplyparams
rgbledsim start
tone_alarm start
gyrosim start
@@ -62,3 +63,4 @@ mavlink stream -r 250 -s HIGHRES_IMU -u _MAVPORT_
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u _MAVPORT_
sdlog2 start -r 100 -e -t -a
mavlink boot_complete
replay trystart