From 230aae580f88d8162350bd1965f29dffa35827a8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Wed, 24 Nov 2021 10:47:45 +0100 Subject: [PATCH] ROMFS: add control_allocator to all types --- ROMFS/px4fmu_common/init.d/rc.airship_apps | 8 ++++++++ ROMFS/px4fmu_common/init.d/rc.fw_apps | 8 ++++++++ ROMFS/px4fmu_common/init.d/rc.rover_apps | 7 +++++++ ROMFS/px4fmu_common/init.d/rc.uuv_apps | 8 ++++++++ ROMFS/px4fmu_common/init.d/rc.vtol_apps | 8 ++++++++ 5 files changed, 39 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d/rc.airship_apps b/ROMFS/px4fmu_common/init.d/rc.airship_apps index 766a17347e..4031bd4f71 100644 --- a/ROMFS/px4fmu_common/init.d/rc.airship_apps +++ b/ROMFS/px4fmu_common/init.d/rc.airship_apps @@ -48,6 +48,14 @@ fi # End Estimator Group Selection # ############################################################################### +if param compare SYS_CTRL_ALLOC 1 +then + # + # Start Control Allocator + # + control_allocator start +fi + # # Start Airship Attitude Controller. # diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_apps b/ROMFS/px4fmu_common/init.d/rc.fw_apps index dd26867136..acc0fb27c5 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_apps +++ b/ROMFS/px4fmu_common/init.d/rc.fw_apps @@ -10,6 +10,14 @@ # ekf2 start & +if param compare SYS_CTRL_ALLOC 1 +then + # + # Start Control Allocator + # + control_allocator start +fi + # # Start attitude controller. # diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_apps b/ROMFS/px4fmu_common/init.d/rc.rover_apps index 87a77281e3..d1e389627e 100644 --- a/ROMFS/px4fmu_common/init.d/rc.rover_apps +++ b/ROMFS/px4fmu_common/init.d/rc.rover_apps @@ -12,6 +12,13 @@ ekf2 start & #attitude_estimator_q start #local_position_estimator start +if param compare SYS_CTRL_ALLOC 1 +then + # + # Start Control Allocator + # + control_allocator start +fi # # Start attitude controllers. diff --git a/ROMFS/px4fmu_common/init.d/rc.uuv_apps b/ROMFS/px4fmu_common/init.d/rc.uuv_apps index 1e4074b727..1855805fc2 100644 --- a/ROMFS/px4fmu_common/init.d/rc.uuv_apps +++ b/ROMFS/px4fmu_common/init.d/rc.uuv_apps @@ -15,6 +15,14 @@ ekf2 start & # End Estimator Group Selection # ############################################################################### +if param compare SYS_CTRL_ALLOC 1 +then + # + # Start Control Allocator + # + control_allocator start +fi + # # Start UUV Attitude Controller. # diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_apps b/ROMFS/px4fmu_common/init.d/rc.vtol_apps index c21800b51e..afcf32f45a 100644 --- a/ROMFS/px4fmu_common/init.d/rc.vtol_apps +++ b/ROMFS/px4fmu_common/init.d/rc.vtol_apps @@ -15,6 +15,14 @@ ekf2 start & # End Estimator group selection # ############################################################################### +if param compare SYS_CTRL_ALLOC 1 +then + # + # Start Control Allocator + # + control_allocator start +fi + airspeed_selector start vtol_att_control start