diff --git a/posix-configs/SITL/init/ekf2/hippocampus b/posix-configs/SITL/init/ekf2/hippocampus index e932a05da9e..aa2b8ac7895 100644 --- a/posix-configs/SITL/init/ekf2/hippocampus +++ b/posix-configs/SITL/init/ekf2/hippocampus @@ -1,14 +1,15 @@ uorb start param load -param set MAV_TYPE 3 -param set SYS_AUTOSTART 4010 -param set SYS_RESTART_TYPE 2 -param set COM_DISARM_LAND 0 -dataman start param set CAL_GYRO0_ID 2293768 param set CAL_ACC0_ID 1376264 param set CAL_ACC1_ID 1310728 param set CAL_MAG0_ID 196616 +param set COM_DISARM_LAND 0 +param set MAV_TYPE 3 +param set SDLOG_DIRS_MAX 7 +param set SYS_AUTOSTART 4010 +param set SYS_RESTART_TYPE 2 +dataman start simulator start -s diff --git a/posix-configs/SITL/init/ekf2/iris b/posix-configs/SITL/init/ekf2/iris index 1e9166f3d86..4a46567a5c2 100644 --- a/posix-configs/SITL/init/ekf2/iris +++ b/posix-configs/SITL/init/ekf2/iris @@ -39,6 +39,7 @@ param set NAV_DLL_ACT 2 param set RTL_DESCEND_ALT 5.0 param set RTL_LAND_DELAY 5 param set RTL_RETURN_ALT 30.0 +param set SDLOG_DIRS_MAX 7 param set SENS_BOARD_ROT 0 param set SENS_BOARD_X_OFF 0.000001 param set SYS_AUTOSTART 4010 diff --git a/posix-configs/SITL/init/ekf2/iris_1 b/posix-configs/SITL/init/ekf2/iris_1 index 5cb67d87723..2b512462ea9 100644 --- a/posix-configs/SITL/init/ekf2/iris_1 +++ b/posix-configs/SITL/init/ekf2/iris_1 @@ -40,12 +40,13 @@ param set NAV_DLL_ACT 2 param set RTL_DESCEND_ALT 5.0 param set RTL_LAND_DELAY 5 param set RTL_RETURN_ALT 30.0 +param set SDLOG_DIRS_MAX 7 param set SENS_BOARD_ROT 0 param set SENS_BOARD_X_OFF 0.000001 +param set SITL_UDP_PRT 14560 param set SYS_AUTOSTART 4010 param set SYS_MC_EST_GROUP 2 param set SYS_RESTART_TYPE 2 -param set SITL_UDP_PRT 14560 replay tryapplyparams simulator start -s tone_alarm start diff --git a/posix-configs/SITL/init/ekf2/iris_2 b/posix-configs/SITL/init/ekf2/iris_2 index 09ba400badb..454e7e4309b 100644 --- a/posix-configs/SITL/init/ekf2/iris_2 +++ b/posix-configs/SITL/init/ekf2/iris_2 @@ -40,12 +40,13 @@ param set NAV_DLL_ACT 2 param set RTL_DESCEND_ALT 5.0 param set RTL_LAND_DELAY 5 param set RTL_RETURN_ALT 30.0 +param set SDLOG_DIRS_MAX 7 param set SENS_BOARD_ROT 0 param set SENS_BOARD_X_OFF 0.000001 +param set SITL_UDP_PRT 14562 param set SYS_AUTOSTART 4010 param set SYS_MC_EST_GROUP 2 param set SYS_RESTART_TYPE 2 -param set SITL_UDP_PRT 14562 replay tryapplyparams simulator start -s tone_alarm start diff --git a/posix-configs/SITL/init/ekf2/iris_irlock b/posix-configs/SITL/init/ekf2/iris_irlock index 363e59844d6..a7edb5584df 100644 --- a/posix-configs/SITL/init/ekf2/iris_irlock +++ b/posix-configs/SITL/init/ekf2/iris_irlock @@ -39,6 +39,7 @@ param set NAV_DLL_ACT 2 param set RTL_DESCEND_ALT 5.0 param set RTL_LAND_DELAY 5 param set RTL_RETURN_ALT 30.0 +param set SDLOG_DIRS_MAX 7 param set SENS_BOARD_ROT 0 param set SENS_BOARD_X_OFF 0.000001 param set SYS_AUTOSTART 4010 diff --git a/posix-configs/SITL/init/ekf2/iris_opt_flow b/posix-configs/SITL/init/ekf2/iris_opt_flow index ec62f171a0a..86673049c05 100644 --- a/posix-configs/SITL/init/ekf2/iris_opt_flow +++ b/posix-configs/SITL/init/ekf2/iris_opt_flow @@ -31,6 +31,7 @@ param set COM_OBL_RC_ACT 0 param set RTL_RETURN_ALT 30.0 param set RTL_DESCEND_ALT 5.0 param set RTL_LAND_DELAY 5 +param set SDLOG_DIRS_MAX 7 param set MIS_TAKEOFF_ALT 2.5 param set MC_ROLLRATE_P 0.2 param set MC_PITCHRATE_P 0.2 diff --git a/posix-configs/SITL/init/ekf2/iris_replay b/posix-configs/SITL/init/ekf2/iris_replay index 6848c4a5bdc..3e0db5f007b 100644 --- a/posix-configs/SITL/init/ekf2/iris_replay +++ b/posix-configs/SITL/init/ekf2/iris_replay @@ -1,4 +1,5 @@ uorb start +param set SDLOG_DIRS_MAX 7 ekf2 start -r logger start -f -t -b 1000 -p vehicle_attitude diff --git a/posix-configs/SITL/init/ekf2/iris_rplidar b/posix-configs/SITL/init/ekf2/iris_rplidar index 1e9166f3d86..4a46567a5c2 100644 --- a/posix-configs/SITL/init/ekf2/iris_rplidar +++ b/posix-configs/SITL/init/ekf2/iris_rplidar @@ -39,6 +39,7 @@ param set NAV_DLL_ACT 2 param set RTL_DESCEND_ALT 5.0 param set RTL_LAND_DELAY 5 param set RTL_RETURN_ALT 30.0 +param set SDLOG_DIRS_MAX 7 param set SENS_BOARD_ROT 0 param set SENS_BOARD_X_OFF 0.000001 param set SYS_AUTOSTART 4010 diff --git a/posix-configs/SITL/init/ekf2/multiple_iris b/posix-configs/SITL/init/ekf2/multiple_iris index f07eebe8aa5..b60f823b366 100644 --- a/posix-configs/SITL/init/ekf2/multiple_iris +++ b/posix-configs/SITL/init/ekf2/multiple_iris @@ -39,6 +39,7 @@ param set NAV_DLL_ACT 2 param set RTL_DESCEND_ALT 5.0 param set RTL_LAND_DELAY 5 param set RTL_RETURN_ALT 30.0 +param set SDLOG_DIRS_MAX 7 param set SENS_BOARD_ROT 0 param set SENS_BOARD_X_OFF 0.000001 param set SYS_AUTOSTART 4010 diff --git a/posix-configs/SITL/init/ekf2/plane b/posix-configs/SITL/init/ekf2/plane index 86727a7530a..bb97c6d0f96 100644 --- a/posix-configs/SITL/init/ekf2/plane +++ b/posix-configs/SITL/init/ekf2/plane @@ -28,6 +28,7 @@ param set NAV_LOITER_RAD 50 param set SENS_BOARD_ROT 0 param set SENS_BOARD_X_OFF 0.000001 param set SENS_DPRES_OFF 0.001 +param set SDLOG_DIRS_MAX 7 param set EKF2_AID_MASK 1 param set EKF2_ANGERR_INIT 0.01 diff --git a/posix-configs/SITL/init/ekf2/rover b/posix-configs/SITL/init/ekf2/rover index a202d62edc3..9bde3abedbe 100644 --- a/posix-configs/SITL/init/ekf2/rover +++ b/posix-configs/SITL/init/ekf2/rover @@ -44,6 +44,7 @@ param set NAV_LOITER_RAD 2 param set SENS_BOARD_ROT 0 param set SENS_BOARD_X_OFF 0.000001 param set SENS_DPRES_OFF 0.001 +param set SDLOG_DIRS_MAX 7 param set SYS_AUTOSTART 50002 param set SYS_MC_EST_GROUP 2 param set SYS_RESTART_TYPE 2 diff --git a/posix-configs/SITL/init/ekf2/solo b/posix-configs/SITL/init/ekf2/solo index 51a0cf37048..546753077c2 100644 --- a/posix-configs/SITL/init/ekf2/solo +++ b/posix-configs/SITL/init/ekf2/solo @@ -36,6 +36,7 @@ param set NAV_DLL_ACT 2 param set RTL_DESCEND_ALT 10.0 param set RTL_LAND_DELAY 0 param set RTL_RETURN_ALT 30.0 +param set SDLOG_DIRS_MAX 7 param set SENS_BOARD_ROT 0 param set SENS_BOARD_X_OFF 0.000001 param set SYS_AUTOSTART 4010 diff --git a/posix-configs/SITL/init/ekf2/standard_vtol b/posix-configs/SITL/init/ekf2/standard_vtol index caae87a69ab..8241d4fc889 100644 --- a/posix-configs/SITL/init/ekf2/standard_vtol +++ b/posix-configs/SITL/init/ekf2/standard_vtol @@ -49,6 +49,7 @@ param set NAV_LOITER_RAD 80 param set RTL_DESCEND_ALT 10.0 param set RTL_LAND_DELAY 0 param set RTL_RETURN_ALT 30.0 +param set SDLOG_DIRS_MAX 7 param set SENS_BOARD_ROT 0 param set SENS_BOARD_X_OFF 0.000001 param set SENS_DPRES_OFF 0.001 diff --git a/posix-configs/SITL/init/ekf2/tailsitter b/posix-configs/SITL/init/ekf2/tailsitter index 5782342eff1..b508a6dc723 100644 --- a/posix-configs/SITL/init/ekf2/tailsitter +++ b/posix-configs/SITL/init/ekf2/tailsitter @@ -32,6 +32,7 @@ param set MPC_XY_VEL_P 0.05 param set MPC_Z_VEL_I 0.15 param set MPC_Z_VEL_P 0.8 param set NAV_DLL_ACT 2 +param set SDLOG_DIRS_MAX 7 param set SENS_BOARD_ROT 0 param set SENS_BOARD_X_OFF 0.000001 param set SENS_DPRES_OFF 0.001 diff --git a/posix-configs/SITL/init/ekf2/typhoon_h480 b/posix-configs/SITL/init/ekf2/typhoon_h480 index 82831fef19b..8057dac7c96 100644 --- a/posix-configs/SITL/init/ekf2/typhoon_h480 +++ b/posix-configs/SITL/init/ekf2/typhoon_h480 @@ -38,6 +38,7 @@ param set NAV_DLL_ACT 2 param set RTL_DESCEND_ALT 10.0 param set RTL_LAND_DELAY 0 param set RTL_RETURN_ALT 30.0 +param set SDLOG_DIRS_MAX 7 param set SENS_BOARD_ROT 0 param set SENS_BOARD_X_OFF 0.000001 param set SYS_AUTOSTART 6001 diff --git a/posix-configs/SITL/init/lpe/hippocampus b/posix-configs/SITL/init/lpe/hippocampus index 3ee7bbbe4b2..99281b32cc0 100644 --- a/posix-configs/SITL/init/lpe/hippocampus +++ b/posix-configs/SITL/init/lpe/hippocampus @@ -1,14 +1,15 @@ uorb start param load -param set MAV_TYPE 3 -param set SYS_AUTOSTART 4010 -param set SYS_RESTART_TYPE 2 -param set COM_DISARM_LAND 0 -dataman start param set CAL_GYRO0_ID 2293768 param set CAL_ACC0_ID 1376264 param set CAL_ACC1_ID 1310728 param set CAL_MAG0_ID 196616 +param set COM_DISARM_LAND 0 +param set MAV_TYPE 3 +param set SDLOG_DIRS_MAX 7 +param set SYS_AUTOSTART 4010 +param set SYS_RESTART_TYPE 2 +dataman start simulator start -s diff --git a/posix-configs/SITL/init/lpe/iris b/posix-configs/SITL/init/lpe/iris index fb3e1aae510..1904cc119f3 100644 --- a/posix-configs/SITL/init/lpe/iris +++ b/posix-configs/SITL/init/lpe/iris @@ -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 +param set SDLOG_DIRS_MAX 7 # GPS only mode param set LPE_FUSION 145 diff --git a/posix-configs/SITL/init/lpe/iris_1 b/posix-configs/SITL/init/lpe/iris_1 index 3f73c09a70b..003c8dfbfa6 100644 --- a/posix-configs/SITL/init/lpe/iris_1 +++ b/posix-configs/SITL/init/lpe/iris_1 @@ -43,6 +43,7 @@ param set MPC_Z_VEL_I 0.15 param set EKF2_GBIAS_INIT 0.01 param set EKF2_ANGERR_INIT 0.01 param set SITL_UDP_PRT 14560 +param set SDLOG_DIRS_MAX 7 # GPS only mode param set LPE_FUSION 145 diff --git a/posix-configs/SITL/init/lpe/iris_2 b/posix-configs/SITL/init/lpe/iris_2 index a075766a4b8..1e1d43fc04a 100644 --- a/posix-configs/SITL/init/lpe/iris_2 +++ b/posix-configs/SITL/init/lpe/iris_2 @@ -43,6 +43,7 @@ param set MPC_Z_VEL_I 0.15 param set EKF2_GBIAS_INIT 0.01 param set EKF2_ANGERR_INIT 0.01 param set SITL_UDP_PRT 14562 +param set SDLOG_DIRS_MAX 7 # GPS only mode param set LPE_FUSION 145 diff --git a/posix-configs/SITL/init/lpe/iris_irlock b/posix-configs/SITL/init/lpe/iris_irlock index 830aff5d6fc..c038a044ae8 100644 --- a/posix-configs/SITL/init/lpe/iris_irlock +++ b/posix-configs/SITL/init/lpe/iris_irlock @@ -45,6 +45,7 @@ param set MC_PITCHRATE_MAX 150 param set MC_ROLLRATE_MAX 150 param set EKF2_GBIAS_INIT 0.01 param set EKF2_ANGERR_INIT 0.01 +param set SDLOG_DIRS_MAX 7 # GPS only mode param set LPE_FUSION 145 param set LPE_EPH_MAX 5 diff --git a/posix-configs/SITL/init/lpe/iris_opt_flow b/posix-configs/SITL/init/lpe/iris_opt_flow index ae7d078b320..fea6ce94c56 100644 --- a/posix-configs/SITL/init/lpe/iris_opt_flow +++ b/posix-configs/SITL/init/lpe/iris_opt_flow @@ -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 +param set SDLOG_DIRS_MAX 7 # changes for optical flow navigation param set MC_PITCH_P 5.0 diff --git a/posix-configs/SITL/init/lpe/iris_rplidar b/posix-configs/SITL/init/lpe/iris_rplidar index 7705fe18606..d8cf251b2b1 100644 --- a/posix-configs/SITL/init/lpe/iris_rplidar +++ b/posix-configs/SITL/init/lpe/iris_rplidar @@ -41,6 +41,7 @@ param set MPC_HOLD_XY_DZ 0.1 param set MPC_Z_VEL_P 0.6 param set MPC_Z_VEL_I 0.15 param set LPE_FUSION 242 +param set SDLOG_DIRS_MAX 7 replay tryapplyparams simulator start -s diff --git a/posix-configs/SITL/init/lpe/plane b/posix-configs/SITL/init/lpe/plane index 77ef53d8e06..5768cf55ec4 100644 --- a/posix-configs/SITL/init/lpe/plane +++ b/posix-configs/SITL/init/lpe/plane @@ -28,6 +28,7 @@ param set NAV_ACC_RAD 15.0 param set NAV_LOITER_RAD 50 param set MIS_LTRMIN_ALT 30 param set MIS_TAKEOFF_ALT 30 +param set SDLOG_DIRS_MAX 7 param set EKF2_GBIAS_INIT 0.01 param set EKF2_ANGERR_INIT 0.01 diff --git a/posix-configs/SITL/init/lpe/rover b/posix-configs/SITL/init/lpe/rover index 1f2d83d659f..5bafa8bc9f8 100644 --- a/posix-configs/SITL/init/lpe/rover +++ b/posix-configs/SITL/init/lpe/rover @@ -43,6 +43,7 @@ param set SENS_DPRES_OFF 0.001 param set SYS_AUTOSTART 50002 param set SYS_MC_EST_GROUP 1 param set SYS_RESTART_TYPE 2 +param set SDLOG_DIRS_MAX 7 replay tryapplyparams simulator start -s tone_alarm start diff --git a/posix-configs/SITL/init/lpe/solo b/posix-configs/SITL/init/lpe/solo index 44527c636de..73028f645b6 100644 --- a/posix-configs/SITL/init/lpe/solo +++ b/posix-configs/SITL/init/lpe/solo @@ -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 +param set SDLOG_DIRS_MAX 7 param set LPE_FUSION 247 # 11110111 no vis yaw (1 << 3) diff --git a/posix-configs/SITL/init/lpe/standard_vtol b/posix-configs/SITL/init/lpe/standard_vtol index a1658db314a..252cd8535d2 100644 --- a/posix-configs/SITL/init/lpe/standard_vtol +++ b/posix-configs/SITL/init/lpe/standard_vtol @@ -53,6 +53,7 @@ param set RTL_DESCEND_ALT 10.0 param set RTL_LAND_DELAY 0 param set COM_DISARM_LAND 5 param set MPC_ACC_HOR_MAX 2 +param set SDLOG_DIRS_MAX 7 replay tryapplyparams simulator start -s tone_alarm start diff --git a/posix-configs/SITL/init/lpe/typhoon_h480 b/posix-configs/SITL/init/lpe/typhoon_h480 index 50bbfcebd1c..1ea5ebaaa8d 100644 --- a/posix-configs/SITL/init/lpe/typhoon_h480 +++ b/posix-configs/SITL/init/lpe/typhoon_h480 @@ -41,6 +41,7 @@ param set MPC_XY_VEL_I 0.2 param set EKF2_GBIAS_INIT 0.01 param set EKF2_ANGERR_INIT 0.01 param set EKF2_MAG_TYPE 1 +param set SDLOG_DIRS_MAX 7 replay tryapplyparams simulator start -s tone_alarm start