diff --git a/posix-configs/SITL/init/ekf2/iris b/posix-configs/SITL/init/ekf2/iris index 4382ad79ef4..dd2c41878a7 100644 --- a/posix-configs/SITL/init/ekf2/iris +++ b/posix-configs/SITL/init/ekf2/iris @@ -1,48 +1,50 @@ uorb start param load -param set MAV_TYPE 2 -param set SYS_AUTOSTART 4010 -param set SYS_RESTART_TYPE 2 -param set SYS_MC_EST_GROUP 2 dataman start param set BAT_N_CELLS 3 -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 CAL_GYRO0_XOFF 0.01 param set CAL_ACC0_XOFF 0.01 -param set CAL_ACC0_YOFF -0.01 -param set CAL_ACC0_ZOFF 0.01 param set CAL_ACC0_XSCALE 1.01 +param set CAL_ACC0_YOFF -0.01 param set CAL_ACC0_YSCALE 1.01 +param set CAL_ACC0_ZOFF 0.01 param set CAL_ACC0_ZSCALE 1.01 +param set CAL_ACC1_ID 1310728 param set CAL_ACC1_XOFF 0.01 +param set CAL_GYRO0_ID 2293768 +param set CAL_GYRO0_XOFF 0.01 +param set CAL_MAG0_ID 196616 param set CAL_MAG0_XOFF 0.01 -param set SENS_BOARD_ROT 0 -param set SENS_BOARD_X_OFF 0.000001 -param set COM_RC_IN_MODE 1 -param set NAV_DLL_ACT 2 param set COM_DISARM_LAND 3 -param set NAV_ACC_RAD 2.0 -param set COM_OF_LOSS_T 5 param set COM_OBL_ACT 2 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 MIS_TAKEOFF_ALT 2.5 -param set MC_ROLLRATE_P 0.2 -param set MC_PITCHRATE_P 0.2 +param set COM_OF_LOSS_T 5 +param set COM_RC_IN_MODE 1 +param set EKF2_AID_MASK 1 +param set EKF2_ANGERR_INIT 0.01 +param set EKF2_GBIAS_INIT 0.01 +param set EKF2_HGT_MODE 0 +param set EKF2_MAG_TYPE 1 +param set MAV_TYPE 2 param set MC_PITCH_P 6 +param set MC_PITCHRATE_P 0.2 param set MC_ROLL_P 6 +param set MC_ROLLRATE_P 0.2 +param set MIS_TAKEOFF_ALT 2.5 param set MPC_HOLD_MAX_Z 2.0 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 EKF2_GBIAS_INIT 0.01 -param set EKF2_ANGERR_INIT 0.01 -param set EKF2_MAG_TYPE 1 +param set MPC_Z_VEL_P 0.6 +param set NAV_ACC_RAD 2.0 +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 SENS_BOARD_ROT 0 +param set SENS_BOARD_X_OFF 0.000001 +param set SYS_AUTOSTART 4010 +param set SYS_MC_EST_GROUP 2 +param set SYS_RESTART_TYPE 2 replay tryapplyparams simulator start -s tone_alarm start diff --git a/posix-configs/SITL/init/ekf2/multiple_iris b/posix-configs/SITL/init/ekf2/multiple_iris index 6ee4f37452b..d50dacb5ac5 100644 --- a/posix-configs/SITL/init/ekf2/multiple_iris +++ b/posix-configs/SITL/init/ekf2/multiple_iris @@ -1,48 +1,50 @@ uorb start param load -param set MAV_TYPE 2 -param set SYS_AUTOSTART 4010 -param set SYS_RESTART_TYPE 2 -param set SYS_MC_EST_GROUP 2 dataman start param set BAT_N_CELLS 3 -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 CAL_GYRO0_XOFF 0.01 param set CAL_ACC0_XOFF 0.01 -param set CAL_ACC0_YOFF -0.01 -param set CAL_ACC0_ZOFF 0.01 param set CAL_ACC0_XSCALE 1.01 +param set CAL_ACC0_YOFF -0.01 param set CAL_ACC0_YSCALE 1.01 +param set CAL_ACC0_ZOFF 0.01 param set CAL_ACC0_ZSCALE 1.01 +param set CAL_ACC1_ID 1310728 param set CAL_ACC1_XOFF 0.01 +param set CAL_GYRO0_ID 2293768 +param set CAL_GYRO0_XOFF 0.01 +param set CAL_MAG0_ID 196616 param set CAL_MAG0_XOFF 0.01 -param set SENS_BOARD_ROT 0 -param set SENS_BOARD_X_OFF 0.000001 -param set COM_RC_IN_MODE 1 -param set NAV_DLL_ACT 2 param set COM_DISARM_LAND 3 -param set NAV_ACC_RAD 2.0 -param set COM_OF_LOSS_T 5 param set COM_OBL_ACT 2 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 MIS_TAKEOFF_ALT 2.5 -param set MC_ROLLRATE_P 0.2 -param set MC_PITCHRATE_P 0.2 +param set COM_OF_LOSS_T 5 +param set COM_RC_IN_MODE 1 +param set EKF2_AID_MASK 1 +param set EKF2_ANGERR_INIT 0.01 +param set EKF2_GBIAS_INIT 0.01 +param set EKF2_HGT_MODE 0 +param set EKF2_MAG_TYPE 1 +param set MAV_TYPE 2 param set MC_PITCH_P 6 +param set MC_PITCHRATE_P 0.2 param set MC_ROLL_P 6 +param set MC_ROLLRATE_P 0.2 +param set MIS_TAKEOFF_ALT 2.5 param set MPC_HOLD_MAX_Z 2.0 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 EKF2_GBIAS_INIT 0.01 -param set EKF2_ANGERR_INIT 0.01 -param set EKF2_MAG_TYPE 1 +param set MPC_Z_VEL_P 0.6 +param set NAV_ACC_RAD 2.0 +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 SENS_BOARD_ROT 0 +param set SENS_BOARD_X_OFF 0.000001 +param set SYS_AUTOSTART 4010 +param set SYS_MC_EST_GROUP 2 +param set SYS_RESTART_TYPE 2 replay tryapplyparams simulator start -s -u _SIMPORT_ tone_alarm start diff --git a/posix-configs/SITL/init/ekf2/plane b/posix-configs/SITL/init/ekf2/plane index 569ce80e4d1..22d0d39931a 100644 --- a/posix-configs/SITL/init/ekf2/plane +++ b/posix-configs/SITL/init/ekf2/plane @@ -2,39 +2,41 @@ uorb start param load param set MAV_TYPE 1 param set SYS_AUTOSTART 3033 -param set SYS_RESTART_TYPE 2 param set SYS_MC_EST_GROUP 2 +param set SYS_RESTART_TYPE 2 dataman start param set BAT_N_CELLS 3 -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 CAL_GYRO0_XOFF 0.01 param set CAL_ACC0_XOFF 0.01 -param set CAL_ACC0_YOFF -0.01 -param set CAL_ACC0_ZOFF 0.01 param set CAL_ACC0_XSCALE 1.01 +param set CAL_ACC0_YOFF -0.01 param set CAL_ACC0_YSCALE 1.01 +param set CAL_ACC0_ZOFF 0.01 param set CAL_ACC0_ZSCALE 1.01 +param set CAL_ACC1_ID 1310728 param set CAL_ACC1_XOFF 0.01 +param set CAL_GYRO0_ID 2293768 +param set CAL_GYRO0_XOFF 0.01 +param set CAL_MAG0_ID 196616 param set CAL_MAG0_XOFF 0.01 -param set SENS_BOARD_ROT 0 -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 -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 NAV_ACC_RAD 15.0 +param set NAV_DLL_ACT 2 +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 EKF2_GBIAS_INIT 0.01 +param set EKF2_AID_MASK 1 param set EKF2_ANGERR_INIT 0.01 +param set EKF2_GBIAS_INIT 0.01 +param set EKF2_HGT_MODE 0 param set EKF2_MAG_TYPE 1 -param set FW_THR_IDLE 0.15 param set FW_LND_ANG 8 +param set FW_THR_IDLE 0.15 param set FW_R_TC 0.7 param set FW_RR_FF 0.20 diff --git a/posix-configs/SITL/init/ekf2/solo b/posix-configs/SITL/init/ekf2/solo index a35401cae65..0961b786079 100644 --- a/posix-configs/SITL/init/ekf2/solo +++ b/posix-configs/SITL/init/ekf2/solo @@ -1,45 +1,47 @@ uorb start param load -param set MAV_TYPE 2 -param set SYS_AUTOSTART 4010 -param set SYS_RESTART_TYPE 2 -param set SYS_MC_EST_GROUP 2 dataman start param set BAT_N_CELLS 3 -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 CAL_GYRO0_XOFF 0.01 param set CAL_ACC0_XOFF 0.01 -param set CAL_ACC0_YOFF -0.01 -param set CAL_ACC0_ZOFF 0.01 param set CAL_ACC0_XSCALE 1.01 +param set CAL_ACC0_YOFF -0.01 param set CAL_ACC0_YSCALE 1.01 +param set CAL_ACC0_ZOFF 0.01 param set CAL_ACC0_ZSCALE 1.01 +param set CAL_ACC1_ID 1310728 param set CAL_ACC1_XOFF 0.01 +param set CAL_GYRO0_ID 2293768 +param set CAL_GYRO0_XOFF 0.01 +param set CAL_MAG0_ID 196616 param set CAL_MAG0_XOFF 0.01 -param set SENS_BOARD_ROT 0 -param set SENS_BOARD_X_OFF 0.000001 -param set COM_RC_IN_MODE 1 -param set NAV_DLL_ACT 2 param set COM_DISARM_LAND 3 -param set NAV_ACC_RAD 2.0 -param set RTL_RETURN_ALT 30.0 -param set RTL_DESCEND_ALT 10.0 -param set RTL_LAND_DELAY 0 -param set MIS_TAKEOFF_ALT 2.5 -param set MC_ROLLRATE_P 0.15 -param set MC_PITCHRATE_P 0.15 +param set COM_RC_IN_MODE 1 +param set EKF2_AID_MASK 1 +param set EKF2_ANGERR_INIT 0.01 +param set EKF2_GBIAS_INIT 0.01 +param set EKF2_HGT_MODE 0 +param set EKF2_MAG_TYPE 1 +param set MAV_TYPE 2 param set MC_PITCH_P 6 +param set MC_PITCHRATE_P 0.15 param set MC_ROLL_P 6 +param set MC_ROLLRATE_P 0.15 +param set MIS_TAKEOFF_ALT 2.5 param set MPC_HOLD_MAX_Z 2.0 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 EKF2_GBIAS_INIT 0.01 -param set EKF2_ANGERR_INIT 0.01 -param set EKF2_MAG_TYPE 1 +param set MPC_Z_VEL_P 0.6 +param set NAV_ACC_RAD 2.0 +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 SENS_BOARD_ROT 0 +param set SENS_BOARD_X_OFF 0.000001 +param set SYS_AUTOSTART 4010 +param set SYS_MC_EST_GROUP 2 +param set SYS_RESTART_TYPE 2 replay tryapplyparams simulator start -s tone_alarm start diff --git a/posix-configs/SITL/init/ekf2/standard_vtol b/posix-configs/SITL/init/ekf2/standard_vtol index 971b8b58cd3..bacb88d817b 100644 --- a/posix-configs/SITL/init/ekf2/standard_vtol +++ b/posix-configs/SITL/init/ekf2/standard_vtol @@ -1,62 +1,64 @@ uorb start param load -param set MAV_TYPE 22 -param set VT_TYPE 2 -param set VT_MOT_COUNT 4 -param set VT_TRANS_THR 0.75 -param set SYS_AUTOSTART 13006 -param set SYS_RESTART_TYPE 2 -param set SYS_MC_EST_GROUP 2 dataman start param set BAT_N_CELLS 3 -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 CAL_GYRO0_XOFF 0.01 param set CAL_ACC0_XOFF 0.01 -param set CAL_ACC0_YOFF -0.01 -param set CAL_ACC0_ZOFF 0.01 param set CAL_ACC0_XSCALE 1.01 +param set CAL_ACC0_YOFF -0.01 param set CAL_ACC0_YSCALE 1.01 +param set CAL_ACC0_ZOFF 0.01 param set CAL_ACC0_ZSCALE 1.01 +param set CAL_ACC1_ID 1310728 param set CAL_ACC1_XOFF 0.01 +param set CAL_GYRO0_ID 2293768 +param set CAL_GYRO0_XOFF 0.01 +param set CAL_MAG0_ID 196616 param set CAL_MAG0_XOFF 0.01 -param set MC_ROLLRATE_P 0.3 -param set MC_PITCHRATE_P 0.2 -param set MC_PITCH_P 6 -param set MC_ROLL_P 6 -param set MPC_XY_P 0.8 -param set MPC_ACC_HOR_MAX 2.0 -param set MPC_XY_VEL_P 0.15 -param set MPC_XY_VEL_I 0.2 -param set MPC_XY_VEL_D 0.005 -param set MPC_XY_FF 0.1 -param set MPC_Z_VEL_MAX 1.5 -param set MPC_Z_VEL_P 0.6 -param set MPC_Z_VEL_I 0.15 +param set COM_DISARM_LAND 5 +param set COM_RC_IN_MODE 1 +param set EKF2_AID_MASK 1 +param set EKF2_ANGERR_INIT 0.01 +param set EKF2_GBIAS_INIT 0.01 +param set EKF2_HGT_MODE 0 +param set EKF2_MAG_TYPE 1 +param set FW_AIRSPD_MAX 25 param set FW_AIRSPD_MIN 14 param set FW_AIRSPD_TRIM 16 -param set FW_AIRSPD_MAX 25 -param set SENS_BOARD_ROT 0 -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 -param set NAV_ACC_RAD 5.0 -param set NAV_LOITER_RAD 80 -param set MPC_TKO_SPEED 1.0 +param set MAV_TYPE 22 +param set MC_PITCH_P 6 +param set MC_PITCHRATE_P 0.2 +param set MC_ROLL_P 6 +param set MC_ROLLRATE_P 0.3 param set MIS_LTRMIN_ALT 10 param set MIS_TAKEOFF_ALT 10 param set MIS_YAW_TMT 10 -param set RTL_RETURN_ALT 30.0 +param set MPC_ACC_HOR_MAX 2 +param set MPC_ACC_HOR_MAX 2.0 +param set MPC_TKO_SPEED 1.0 +param set MPC_XY_FF 0.1 +param set MPC_XY_P 0.8 +param set MPC_XY_VEL_D 0.005 +param set MPC_XY_VEL_I 0.2 +param set MPC_XY_VEL_P 0.15 +param set MPC_Z_VEL_I 0.15 +param set MPC_Z_VEL_MAX 1.5 +param set MPC_Z_VEL_P 0.6 +param set NAV_ACC_RAD 5.0 +param set NAV_DLL_ACT 2 +param set NAV_LOITER_RAD 80 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 EKF2_GBIAS_INIT 0.01 -param set EKF2_ANGERR_INIT 0.01 -param set EKF2_MAG_TYPE 1 +param set RTL_RETURN_ALT 30.0 +param set SENS_BOARD_ROT 0 +param set SENS_BOARD_X_OFF 0.000001 +param set SENS_DPRES_OFF 0.001 +param set SYS_AUTOSTART 13006 +param set SYS_MC_EST_GROUP 2 +param set SYS_RESTART_TYPE 2 +param set VT_MOT_COUNT 4 +param set VT_TRANS_THR 0.75 +param set VT_TYPE 2 replay tryapplyparams simulator start -s tone_alarm start diff --git a/posix-configs/SITL/init/ekf2/tailsitter b/posix-configs/SITL/init/ekf2/tailsitter index c38c4accde1..b90f640595a 100644 --- a/posix-configs/SITL/init/ekf2/tailsitter +++ b/posix-configs/SITL/init/ekf2/tailsitter @@ -1,44 +1,46 @@ uorb start param load -param set MAV_TYPE 20 -param set VT_TYPE 0 -param set SYS_AUTOSTART 4010 -param set SYS_RESTART_TYPE 2 -param set SYS_MC_EST_GROUP 2 dataman start param set BAT_N_CELLS 3 -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 CAL_GYRO0_XOFF 0.01 param set CAL_ACC0_XOFF 0.01 -param set CAL_ACC0_YOFF -0.01 -param set CAL_ACC0_ZOFF 0.01 param set CAL_ACC0_XSCALE 1.01 +param set CAL_ACC0_YOFF -0.01 param set CAL_ACC0_YSCALE 1.01 +param set CAL_ACC0_ZOFF 0.01 param set CAL_ACC0_ZSCALE 1.01 +param set CAL_ACC1_ID 1310728 param set CAL_ACC1_XOFF 0.01 +param set CAL_GYRO0_ID 2293768 +param set CAL_GYRO0_XOFF 0.01 +param set CAL_MAG0_ID 196616 param set CAL_MAG0_XOFF 0.01 -param set MC_ROLLRATE_P 0.2 -param set MC_PITCHRATE_P 0.2 +param set COM_RC_IN_MODE 1 +param set EKF2_AID_MASK 1 +param set EKF2_ANGERR_INIT 0.01 +param set EKF2_GBIAS_INIT 0.01 +param set EKF2_HGT_MODE 0 +param set EKF2_MAG_TYPE 1 +param set MAV_TYPE 20 param set MC_PITCH_P 6 +param set MC_PITCHRATE_P 0.2 param set MC_ROLL_P 6 -param set MPC_XY_P 0.15 -param set MPC_XY_VEL_P 0.05 -param set MPC_XY_VEL_D 0.005 +param set MC_ROLLRATE_P 0.2 param set MPC_XY_FF 0.1 +param set MPC_XY_P 0.15 +param set MPC_XY_VEL_D 0.005 +param set MPC_XY_VEL_P 0.05 +param set MPC_Z_VEL_I 0.15 param set MPC_Z_VEL_MAX 1.0 param set MPC_Z_VEL_P 0.8 -param set MPC_Z_VEL_I 0.15 -param set SENS_BOARD_ROT 0 -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 -param set EKF2_GBIAS_INIT 0.01 -param set EKF2_ANGERR_INIT 0.01 -param set EKF2_MAG_TYPE 1 +param set SENS_BOARD_ROT 0 +param set SENS_BOARD_X_OFF 0.000001 +param set SENS_DPRES_OFF 0.001 +param set SYS_AUTOSTART 4010 +param set SYS_MC_EST_GROUP 2 +param set SYS_RESTART_TYPE 2 +param set VT_TYPE 0 replay tryapplyparams simulator start -s tone_alarm start diff --git a/posix-configs/SITL/init/ekf2/typhoon_h480 b/posix-configs/SITL/init/ekf2/typhoon_h480 index d278ac9759a..8e939b414d8 100644 --- a/posix-configs/SITL/init/ekf2/typhoon_h480 +++ b/posix-configs/SITL/init/ekf2/typhoon_h480 @@ -1,47 +1,49 @@ uorb start param load -param set MAV_TYPE 13 -param set SYS_AUTOSTART 6001 -param set SYS_RESTART_TYPE 2 -param set SYS_MC_EST_GROUP 2 dataman start param set BAT_N_CELLS 3 -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 CAL_GYRO0_XOFF 0.001 param set CAL_ACC0_XOFF 0.001 -param set CAL_ACC0_YOFF -0.001 -param set CAL_ACC0_ZOFF 0.001 param set CAL_ACC0_XSCALE 1.0001 +param set CAL_ACC0_YOFF -0.001 param set CAL_ACC0_YSCALE 1.0001 +param set CAL_ACC0_ZOFF 0.001 param set CAL_ACC0_ZSCALE 1.0001 +param set CAL_ACC1_ID 1310728 param set CAL_ACC1_XOFF 0.001 +param set CAL_GYRO0_ID 2293768 +param set CAL_GYRO0_XOFF 0.001 +param set CAL_MAG0_ID 196616 param set CAL_MAG0_XOFF 0.001 -param set SENS_BOARD_ROT 0 -param set SENS_BOARD_X_OFF 0.000001 -param set COM_RC_IN_MODE 1 -param set NAV_DLL_ACT 2 param set COM_DISARM_LAND 3 -param set NAV_ACC_RAD 2.0 -param set RTL_RETURN_ALT 30.0 -param set RTL_DESCEND_ALT 10.0 -param set RTL_LAND_DELAY 0 -param set MIS_TAKEOFF_ALT 2.5 -param set MC_ROLLRATE_P 0.1 -param set MC_PITCHRATE_P 0.1 +param set COM_RC_IN_MODE 1 +param set EKF2_AID_MASK 1 +param set EKF2_ANGERR_INIT 0.01 +param set EKF2_GBIAS_INIT 0.01 +param set EKF2_HGT_MODE 0 +param set EKF2_MAG_TYPE 1 +param set MAV_TYPE 13 param set MC_PITCH_P 6 +param set MC_PITCHRATE_P 0.1 param set MC_ROLL_P 6 +param set MC_ROLLRATE_P 0.1 +param set MIS_TAKEOFF_ALT 2.5 param set MPC_HOLD_MAX_Z 2.0 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 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 -param set EKF2_MAG_TYPE 1 +param set MPC_XY_VEL_P 0.15 +param set MPC_Z_VEL_I 0.15 +param set MPC_Z_VEL_P 0.6 +param set NAV_ACC_RAD 2.0 +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 SENS_BOARD_ROT 0 +param set SENS_BOARD_X_OFF 0.000001 +param set SYS_AUTOSTART 6001 +param set SYS_MC_EST_GROUP 2 +param set SYS_RESTART_TYPE 2 replay tryapplyparams simulator start -s tone_alarm start