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26 lines
487 B
26 lines
487 B
#!/bin/sh |
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# Standard apps for new control allocation and controllers |
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# NOTE: Script variables are declared/initialized/unset in the rcS script. |
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# Start angular velocity controller |
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angular_velocity_controller start |
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mc_rate_control stop |
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# Start Control Allocator |
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control_allocator start |
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# Disable hover thrust estimator and prearming |
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# These features are currently incompatible with control allocation |
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# TODO: fix |
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param set MPC_USE_HTE 0 |
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param set COM_PREARM_MODE 0
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