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39 lines
585 B
39 lines
585 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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#--------------------------------------- |
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# Estimator group selction |
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# |
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# INAV |
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if param compare SYS_MC_EST_GROUP 0 |
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then |
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attitude_estimator_q start |
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position_estimator_inav start |
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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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