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46 lines
977 B
46 lines
977 B
#!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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# The system is defaulting to INAV_ENABLED = 1 |
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# but users can alternatively try the EKF-based |
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# filter by setting INAV_ENABLED = 0 |
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if param compare INAV_ENABLED 1 |
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then |
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# The system is defaulting to EKF_ATT_ENABLED = 1 |
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# and uses the older EKF filter. However users can |
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# enable the new quaternion based complimentary |
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# filter by setting EKF_ATT_ENABLED = 0. |
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# Note that on FMUv1, the EKF att estimator is not |
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# available and the Q estimator runs instead. |
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if param compare EKF_ATT_ENABLED 1 |
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then |
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attitude_estimator_ekf start |
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else |
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attitude_estimator_q start |
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fi |
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position_estimator_inav start |
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else |
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ekf_att_pos_estimator start |
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fi |
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if mc_att_control start |
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then |
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else |
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# try the multiplatform version |
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mc_att_control_m start |
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fi |
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if mc_pos_control start |
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then |
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else |
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# try the multiplatform version |
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mc_pos_control_m start |
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fi |
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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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