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48 lines
897 B
48 lines
897 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 (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 EKF2" |
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param set SYS_MC_EST_GROUP 2 |
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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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# Try to start LPE. If it fails, start EKF2 as a default |
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# Unfortunately we do not build it on px4fmu-v2 due to a limited flash. |
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if attitude_estimator_q start |
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then |
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local_position_estimator start |
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else |
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echo "ERROR [init] Estimator LPE not available. Using EKF2" |
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param set SYS_MC_EST_GROUP 2 |
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param save |
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fi |
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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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