px4-firmware/ROMFS/px4fmu_common/init.d/rc.rover_apps

#!/bin/sh
#
# Standard apps for unmanned ground vehicles (UGV).
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#

#
# Start the attitude and position estimator.
#
ekf2 start &

#
# Start Control Allocator
#
control_allocator start

#
# Start attitude controllers.
#
rover_pos_control start

#
# Start Land Detector.
#
land_detector start rover
ROMFS: change shebang from #!zsh to #!/bin/sh This was required for shellsheck. 2018-12-18 04:26:22 -04:00			`#!/bin/sh`
unmanned ground vehicle (UGV) controllers and Traxxas Stampede configuration (#7175) 2017-06-06 14:26:51 -03:00			`#`
Format and comment fw, mc, vtol, and ugv vehicle apps and default startup scripts. 2018-07-12 18:56:46 -03:00			`# Standard apps for unmanned ground vehicles (UGV).`
			`#`
			`# NOTE: Script variables are declared/initialized/unset in the rcS script.`
unmanned ground vehicle (UGV) controllers and Traxxas Stampede configuration (#7175) 2017-06-06 14:26:51 -03:00			`#`

			`#`
Format and comment fw, mc, vtol, and ugv vehicle apps and default startup scripts. 2018-07-12 18:56:46 -03:00			`# Start the attitude and position estimator.`
unmanned ground vehicle (UGV) controllers and Traxxas Stampede configuration (#7175) 2017-06-06 14:26:51 -03:00			`#`
Multi-EKF support (ekf2) - ekf2 can now run in multi-instance mode (currently up to 9 instances) - in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude) - new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude) - sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro) - existing consumers of estimator_status must check estimator_selector_status to select current primary instance status - ekf2 single instance mode is still fully supported and the default Co-authored-by: Paul Riseborough <gncsolns@gmail.com> 2020-10-27 11:56:11 -03:00			`ekf2 start &`
unmanned ground vehicle (UGV) controllers and Traxxas Stampede configuration (#7175) 2017-06-06 14:26:51 -03:00
ROMFS: purge old mixing system - SYS_USE_IO is now off by default (enabled by default per board) 2022-08-24 15:44:17 -03:00			`#`
			`# Start Control Allocator`
			`#`
			`control_allocator start`
unmanned ground vehicle (UGV) controllers and Traxxas Stampede configuration (#7175) 2017-06-06 14:26:51 -03:00
			`#`
Format and comment fw, mc, vtol, and ugv vehicle apps and default startup scripts. 2018-07-12 18:56:46 -03:00			`# Start attitude controllers.`
unmanned ground vehicle (UGV) controllers and Traxxas Stampede configuration (#7175) 2017-06-06 14:26:51 -03:00			`#`
Rover: Rewrote gnd_pos_control and removed gnd_att_control (#12239) 2019-07-11 10:39:13 -03:00			`rover_pos_control start`
unmanned ground vehicle (UGV) controllers and Traxxas Stampede configuration (#7175) 2017-06-06 14:26:51 -03:00
			`#`
Format and comment fw, mc, vtol, and ugv vehicle apps and default startup scripts. 2018-07-12 18:56:46 -03:00			`# Start Land Detector.`
unmanned ground vehicle (UGV) controllers and Traxxas Stampede configuration (#7175) 2017-06-06 14:26:51 -03:00			`#`
Changed constant name to UNMANNED_GROUND_VEHICLE 2019-05-02 05:26:42 -03:00			`land_detector start rover`