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