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

#!/bin/sh
#
# Standard apps for vtol: Attitude/Position estimator, Attitude/Position control.
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#

###############################################################################
#                       Begin Estimator group selection                       #
###############################################################################

ekf2 start &

###############################################################################
#                        End Estimator group selection                        #
###############################################################################

#
# Start Control Allocator
#
control_allocator start

airspeed_selector start

vtol_att_control start

mc_rate_control start vtol
mc_att_control start vtol
flight_mode_manager start
mc_pos_control start vtol
mc_hover_thrust_estimator start

if param greater -s MC_AT_EN 0
then
	mc_autotune_attitude_control start
fi

fw_rate_control start vtol
fw_att_control start vtol
fw_pos_control start vtol
fw_autotune_attitude_control start vtol

# Start Land Detector
# Multicopter for now until we have something for VTOL
#
land_detector start vtol
ROMFS: change shebang from #!zsh to #!/bin/sh This was required for shellsheck. 2018-12-18 04:26:22 -04:00			`#!/bin/sh`
adapted and added ROMFS-scripts to support VTOL 2014-12-02 05:30:26 -04:00			`#`
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 vtol: Attitude/Position estimator, Attitude/Position control.`
adapted and added ROMFS-scripts to support VTOL 2014-12-02 05:30:26 -04:00			`#`
Format and comment fw, mc, vtol, and ugv vehicle apps and default startup scripts. 2018-07-12 18:56:46 -03:00			`# NOTE: Script variables are declared/initialized/unset in the rcS script.`
Added SYS_MC_EST_GROUP to allow fine grained algorithm selection. 2016-04-14 16:22:25 -03:00			`#`

Format and comment fw, mc, vtol, and ugv vehicle apps and default startup scripts. 2018-07-12 18:56:46 -03:00			`###############################################################################`
			`# Begin Estimator group selection #`
			`###############################################################################`
adapted and added ROMFS-scripts to support VTOL 2014-12-02 05:30:26 -04:00
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 &`
Format and comment fw, mc, vtol, and ugv vehicle apps and default startup scripts. 2018-07-12 18:56:46 -03:00
			`###############################################################################`
			`# End Estimator group selection #`
			`###############################################################################`
Added SYS_MC_EST_GROUP to allow fine grained algorithm selection. 2016-04-14 16:22:25 -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`
ROMFS: add control_allocator to all types 2021-11-24 05:47:45 -04:00
VTOL: explicitly start all FW & MC controllers in VTOL mode 2019-11-30 13:58:36 -04:00			`airspeed_selector start`
Added SYS_MC_EST_GROUP to allow fine grained algorithm selection. 2016-04-14 16:22:25 -03:00
adapted and added ROMFS-scripts to support VTOL 2014-12-02 05:30:26 -04:00			`vtol_att_control start`
adding landed detector for fixed wing so alt/posctl works 2015-08-06 10:24:52 -03:00
VTOL: explicitly start all FW & MC controllers in VTOL mode 2019-11-30 13:58:36 -04:00			`mc_rate_control start vtol`
			`mc_att_control start vtol`
flight_mode_manager: merge with flight_tasks 2021-01-04 11:21:47 -04:00			`flight_mode_manager start`
VTOL: explicitly start all FW & MC controllers in VTOL mode 2019-11-30 13:58:36 -04:00			`mc_pos_control start vtol`
move hover_thrust_estimator to new module (mc_hover_thrust_estimator) * MC_HTE: unitialize with hover_thrust parameter * MC_HTE: constrain hover thrust setter between 0.1 and 0.9 * MC_HTE: integrate with land detector and velocity controller * MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value. * MC_HTE: use altitude agl threshold to start the estimator local_position.z is relative to the origin of the EKF while dist_bottom is above ground Co-authored-by: bresch <brescianimathieu@gmail.com> 2020-03-11 22:20:54 -03:00			`mc_hover_thrust_estimator start`
mc_autotune_attitude_control: add new MC_AT_EN parameter to enable - only enabled by default on boards that aren't memory constrained 2021-11-04 14:05:31 -03:00
			`if param greater -s MC_AT_EN 0`
			`then`
			`mc_autotune_attitude_control start`
			`fi`
VTOL: explicitly start all FW & MC controllers in VTOL mode 2019-11-30 13:58:36 -04:00
Add new fixed wing rate control module (fw_rate_control) * Fixedwing rate control into a separate module * Start fw_rate_control for vtol * Move over airspeed related parameters to fw_rate_control Co-authored-by: Silvan Fuhrer <silvan@auterion.com> 2023-01-04 12:14:00 -04:00			`fw_rate_control start vtol`
VTOL: explicitly start all FW & MC controllers in VTOL mode 2019-11-30 13:58:36 -04:00			`fw_att_control start vtol`
fw pos control: revert name until we delineate this module a bit more (#21442) 2023-04-13 12:00:04 -03:00			`fw_pos_control start vtol`
fw atune: add fixed-wing auto-tuning module 2021-10-01 12:09:55 -03:00			`fw_autotune_attitude_control start vtol`
VTOL: explicitly start all FW & MC controllers in VTOL mode 2019-11-30 13:58:36 -04:00
adding landed detector for fixed wing so alt/posctl works 2015-08-06 10:24:52 -03:00			`# Start Land Detector`
use multicopter landing detector for vtol 2015-08-14 02:36:16 -03:00			`# Multicopter for now until we have something for VTOL`
adding landed detector for fixed wing so alt/posctl works 2015-08-06 10:24:52 -03:00			`#`
start correct land detector for vtol 2015-08-15 11:30:29 -03:00			`land_detector start vtol`