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#!nsh
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#
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# Standard apps for multirotors:
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# att & pos estimator, att & pos control.
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#
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#---------------------------------------
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# Estimator group selction
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#
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# INAV (deprecated)
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if param compare SYS_MC_EST_GROUP 0
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then
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echo "ERROR [init] Estimator INAV deprecated. Using LPE"
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param set SYS_MC_EST_GROUP 1
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param save
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fi
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# LPE
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if param compare SYS_MC_EST_GROUP 1
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then
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attitude_estimator_q start
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local_position_estimator start
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fi
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# EKF
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if param compare SYS_MC_EST_GROUP 2
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then
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ekf2 start
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fi
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#---------------------------------------
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mc_att_control start
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mc_pos_control start
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#
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# Start Land Detector
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#
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land_detector start multicopter
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