#!nsh
#
# Standard apps for multirotors:
# att & pos estimator, att & pos control.
#


#---------------------------------------
# Estimator group selction
#
# INAV (deprecated)
if param compare SYS_MC_EST_GROUP 0
then
	echo "ERROR [init] Estimator INAV deprecated. Using LPE"
	param set SYS_MC_EST_GROUP 1
	param save
fi

# LPE
if param compare SYS_MC_EST_GROUP 1
then
	# Try to start LPE. If it fails, start EKF2 as a default
	# Unfortunately we do not build it on px4fmu-v2 duo to a limited flash.
	if attitude_estimator_q start
	then
		local_position_estimator start
	else
		ekf2 start
	fi
fi

# EKF
if param compare SYS_MC_EST_GROUP 2
then
	ekf2 start
fi
#---------------------------------------

mc_att_control start

mc_pos_control start

#
# Start Land Detector
#
land_detector start multicopter