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[WIP] introduce new vehicle_imu message #9756

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[WIP] introduce new vehicle_imu message #9756

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2236cb7
add vehicle_imu message and introduce to EKF2 and sensors
dagar Jun 24, 2018
da2b30f
EKF2 use solution status for validity flags and sensor_bias publication
dagar Jun 24, 2018
ed04cbd
sensors skip readings with device_id=0
dagar Jun 24, 2018
7b8a7cc
land_detector check data validity and refactor common code
dagar Jun 24, 2018
1ab7627
simulator cleanup fake device_ids
dagar Jun 24, 2018
e06ddea
vehicle_imu.msg add units in comment
dagar Jun 25, 2018
3984ac8
EKF only publish wind if it's being estimated
dagar Jun 25, 2018
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2 changes: 1 addition & 1 deletion Tools/sitl_run.sh
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Expand Up @@ -55,7 +55,7 @@ then
mkdir -p $rootfs
publisher_rules_file="$rootfs/orb_publisher.rules"
cat <<EOF > "$publisher_rules_file"
restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected
restrict_topics: vehicle_imu, vehicle_gps_position, vehicle_land_detected
module: replay
ignore_others: false
EOF
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1 change: 1 addition & 0 deletions msg/CMakeLists.txt
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Expand Up @@ -120,6 +120,7 @@ set(msg_files
vehicle_control_mode.msg
vehicle_global_position.msg
vehicle_gps_position.msg
vehicle_imu.msg
vehicle_land_detected.msg
vehicle_local_position.msg
vehicle_local_position_setpoint.msg
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4 changes: 2 additions & 2 deletions msg/ekf2_timestamps.msg
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Expand Up @@ -2,15 +2,15 @@
# ekf2. It can be used for reproducible replay.

# the timestamp field (auto-generated) is the ekf2 reference time and matches
# the timestamp of the sensor_combined topic.
# the timestamp of the vehicle_imu topic.


int16 RELATIVE_TIMESTAMP_INVALID = 32767 # (0x7fff) If one of the relative timestamps
# is set to this value, it means the associated sensor values did not update

# timestamps are relative to the main timestamp and are in 0.1 ms (timestamp +
# *_timestamp_rel = absolute timestamp). For int16, this allows a maximum
# difference of +-3.2s to the sensor_combined topic.
# difference of +-3.2s to the vehicle_imu topic.

int16 airspeed_timestamp_rel
int16 distance_sensor_timestamp_rel
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2 changes: 1 addition & 1 deletion msg/sensor_selection.msg
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@@ -1,5 +1,5 @@
#
# Sensor ID's for the voted sensors output on the sensor_combined topic.
# Sensor ID's for the voted sensors output on the vehicle_imu topic.
# Will be updated on startup of the sensor module and when sensor selection changes
#

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1 change: 1 addition & 0 deletions msg/tools/uorb_rtps_message_ids.py
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Expand Up @@ -91,6 +91,7 @@
'vehicle_land_detected': 86,
'vehicle_local_position': 87,
'vehicle_local_position_setpoint': 88,
'vehicle_imu': 95,
'vehicle_rates_setpoint': 89,
'vehicle_roi': 90,
'vehicle_status_flags': 91,
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9 changes: 9 additions & 0 deletions msg/vehicle_imu.msg
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@@ -0,0 +1,9 @@
#
# IMU integrated measurements in SI-unit form.
#

uint16 delta_angle_dt # gyroscope measurement sampling period in us
float32[3] delta_angle # integration of the gyroscope measurements in the XYZ body frame in radians

uint16 delta_velocity_dt # accelerometer measurement sampling period in us
float32[3] delta_velocity # integration of the accelerometer measurements in the XYZ body frame in m/s
8 changes: 4 additions & 4 deletions posix-configs/SITL/README.md
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Expand Up @@ -65,10 +65,10 @@ Example "startup" file
uorb start
mavlink start -x -u 14556
simulator start -s
param set CAL_GYRO0_ID 2293760
param set CAL_ACC0_ID 1310720
param set CAL_ACC1_ID 1376256
param set CAL_MAG0_ID 196608
param set CAL_ACC0_ID 1376264
param set CAL_ACC1_ID 1310728
param set CAL_GYRO0_ID 2293768
param set CAL_MAG0_ID 196616
rgbled start
tone_alarm start
gyrosim start
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2 changes: 1 addition & 1 deletion posix-configs/SITL/init/ekf2/hippocampus
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@@ -1,8 +1,8 @@
uorb start
param load
param set CAL_GYRO0_ID 2293768
param set CAL_ACC0_ID 1376264
param set CAL_ACC1_ID 1310728
param set CAL_GYRO0_ID 2293768
param set CAL_MAG0_ID 196616
param set COM_DISARM_LAND 0
param set MAV_TYPE 3
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9 changes: 0 additions & 9 deletions posix-configs/SITL/init/ekf2/iris
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Expand Up @@ -3,18 +3,9 @@ param load
dataman start
param set BAT_N_CELLS 3
param set CAL_ACC0_ID 1376264
param set CAL_ACC0_XOFF 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 COM_DISARM_LAND 3
param set COM_OBL_ACT 2
param set COM_OBL_RC_ACT 0
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9 changes: 0 additions & 9 deletions posix-configs/SITL/init/ekf2/iris_1
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Expand Up @@ -4,18 +4,9 @@ dataman start
param set MAV_SYS_ID 1
param set BAT_N_CELLS 3
param set CAL_ACC0_ID 1376264
param set CAL_ACC0_XOFF 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 COM_DISARM_LAND 3
param set COM_OBL_ACT 2
param set COM_OBL_RC_ACT 0
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9 changes: 0 additions & 9 deletions posix-configs/SITL/init/ekf2/iris_2
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Expand Up @@ -4,18 +4,9 @@ dataman start
param set MAV_SYS_ID 2
param set BAT_N_CELLS 3
param set CAL_ACC0_ID 1376264
param set CAL_ACC0_XOFF 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 COM_DISARM_LAND 3
param set COM_OBL_ACT 2
param set COM_OBL_RC_ACT 0
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9 changes: 0 additions & 9 deletions posix-configs/SITL/init/ekf2/iris_irlock
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Expand Up @@ -3,18 +3,9 @@ param load
dataman start
param set BAT_N_CELLS 3
param set CAL_ACC0_ID 1376264
param set CAL_ACC0_XOFF 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 COM_DISARM_LAND 3
param set COM_OBL_ACT 2
param set COM_OBL_RC_ACT 0
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11 changes: 1 addition & 10 deletions posix-configs/SITL/init/ekf2/iris_opt_flow
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Expand Up @@ -6,19 +6,10 @@ 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_GYRO0_ID 2293768
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_YSCALE 1.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_XOFF 0.01
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
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9 changes: 0 additions & 9 deletions posix-configs/SITL/init/ekf2/iris_rplidar
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Expand Up @@ -3,18 +3,9 @@ param load
dataman start
param set BAT_N_CELLS 3
param set CAL_ACC0_ID 1376264
param set CAL_ACC0_XOFF 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 COM_DISARM_LAND 3
param set COM_OBL_ACT 2
param set COM_OBL_RC_ACT 0
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11 changes: 1 addition & 10 deletions posix-configs/SITL/init/ekf2/iris_vision
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Expand Up @@ -6,19 +6,10 @@ 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_GYRO0_ID 2293768
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_YSCALE 1.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_XOFF 0.01
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
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9 changes: 0 additions & 9 deletions posix-configs/SITL/init/ekf2/multiple_iris
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Expand Up @@ -3,18 +3,9 @@ param load
dataman start
param set BAT_N_CELLS 3
param set CAL_ACC0_ID 1376264
param set CAL_ACC0_XOFF 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 COM_DISARM_LAND 3
param set COM_OBL_ACT 2
param set COM_OBL_RC_ACT 0
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9 changes: 0 additions & 9 deletions posix-configs/SITL/init/ekf2/plane
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Expand Up @@ -5,18 +5,9 @@ dataman start
param set BAT_N_CELLS 3

param set CAL_ACC0_ID 1376264
param set CAL_ACC0_XOFF 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 COM_POS_FS_DELAY 5
param set COM_POS_FS_EPH 25
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9 changes: 0 additions & 9 deletions posix-configs/SITL/init/ekf2/rover
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Expand Up @@ -3,18 +3,9 @@ param load
dataman start
param set BAT_N_CELLS 3
param set CAL_ACC0_ID 1376264
param set CAL_ACC0_XOFF 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 COM_RC_IN_MODE 1
param set EKF2_ANGERR_INIT 0.01
param set EKF2_GBIAS_INIT 0.01
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9 changes: 0 additions & 9 deletions posix-configs/SITL/init/ekf2/solo
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Expand Up @@ -3,18 +3,9 @@ param load
dataman start
param set BAT_N_CELLS 3
param set CAL_ACC0_ID 1376264
param set CAL_ACC0_XOFF 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 COM_DISARM_LAND 3
param set COM_RC_IN_MODE 1
param set EKF2_AID_MASK 1
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9 changes: 0 additions & 9 deletions posix-configs/SITL/init/ekf2/standard_vtol
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Expand Up @@ -3,18 +3,9 @@ param load
dataman start
param set BAT_N_CELLS 3
param set CAL_ACC0_ID 1376264
param set CAL_ACC0_XOFF 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 COM_DISARM_LAND 5
param set COM_RC_IN_MODE 1
param set EKF2_AID_MASK 1
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9 changes: 0 additions & 9 deletions posix-configs/SITL/init/ekf2/tailsitter
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Expand Up @@ -3,18 +3,9 @@ param load
dataman start
param set BAT_N_CELLS 3
param set CAL_ACC0_ID 1376264
param set CAL_ACC0_XOFF 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 COM_RC_IN_MODE 1
param set EKF2_AID_MASK 1
param set EKF2_ANGERR_INIT 0.01
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9 changes: 0 additions & 9 deletions posix-configs/SITL/init/ekf2/tiltrotor
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Expand Up @@ -5,18 +5,9 @@ dataman start
param set BAT_N_CELLS 3

param set CAL_ACC0_ID 1376264
param set CAL_ACC0_XOFF 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 COM_DISARM_LAND 5
param set COM_RC_IN_MODE 1
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9 changes: 0 additions & 9 deletions posix-configs/SITL/init/ekf2/typhoon_h480
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Expand Up @@ -3,18 +3,9 @@ param load
dataman start
param set BAT_N_CELLS 3
param set CAL_ACC0_ID 1376264
param set CAL_ACC0_XOFF 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 COM_DISARM_LAND 3
param set COM_RC_IN_MODE 1
param set EKF2_AID_MASK 1
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11 changes: 1 addition & 10 deletions posix-configs/SITL/init/inav/iris
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Expand Up @@ -9,19 +9,10 @@ param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
param set SYS_MC_EST_GROUP 0
dataman start
param set CAL_GYRO0_ID 2293768
param set CAL_ACC0_ID 1376264
param set CAL_ACC1_ID 1310728
param set CAL_GYRO0_ID 2293768
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_YSCALE 1.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_XOFF 0.01
param set CAL_MAG0_XOFF 0.01
param set MPC_XY_P 0.4
param set MPC_XY_VEL_P 0.2
param set MPC_XY_VEL_D 0.005
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