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

#!/bin/sh
#
# Standard apps for fixed wing
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#

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

if param compare SYS_CTRL_ALLOC 1
then
	#
	# Start Control Allocator
	#
	control_allocator start
fi

#
# Start attitude controller.
#
fw_att_control start
fw_pos_control_l1 start
airspeed_selector start

#
# Start attitude control auto-tuner
#
fw_autotune_attitude_control start

#
# Start Land Detector.
#
land_detector start fixedwing
ROMFS: change shebang from #!zsh to #!/bin/sh This was required for shellsheck. 2018-12-18 04:26:22 -04:00			`#!/bin/sh`
Init scripts cleanup, WIP 2014-01-10 08:18:34 -04:00			`#`
			`# Standard apps for fixed wing`
			`#`
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.`
			`#`
Init scripts cleanup, WIP 2014-01-10 08:18:34 -04:00
			`#`
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.`
Init scripts cleanup, WIP 2014-01-10 08:18:34 -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 &`
Init scripts cleanup, WIP 2014-01-10 08:18:34 -04:00
ROMFS: add control_allocator to all types 2021-11-24 05:47:45 -04:00			`if param compare SYS_CTRL_ALLOC 1`
			`then`
			`#`
			`# Start Control Allocator`
			`#`
			`control_allocator start`
			`fi`

Init scripts cleanup, WIP 2014-01-10 08:18:34 -04:00			`#`
Format and comment fw, mc, vtol, and ugv vehicle apps and default startup scripts. 2018-07-12 18:56:46 -03:00			`# Start attitude controller.`
Init scripts cleanup, WIP 2014-01-10 08:18:34 -04:00			`#`
			`fw_att_control start`
			`fw_pos_control_l1 start`
Airspeed Selector: repurpose wind estimator into an airspeed (selection, validation) module. This new airspeed module does: -runns an airspeed validator for every airspeed sensor present, which checks measurement validity and estimates an airspeed scale -selects another airspeed sensor if for the current one a failure is detected -estimates airspeed with groundspeed-windspeed if no valid airspeed sensor is present -outputs airspeed_validated topic Signed-off-by: Silvan Fuhrer <silvan@auterion.com> 2019-08-07 08:06:00 -03:00			`airspeed_selector start`
fw atune: add fixed-wing auto-tuning module 2021-10-01 12:09:55 -03:00
			`#`
			`# Start attitude control auto-tuner`
			`#`
			`fw_autotune_attitude_control start`

ROMFS: Added the respective land detector to the startup scripts 2015-01-06 06:59:15 -04:00			`#`
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.`
ROMFS: Added the respective land detector to the startup scripts 2015-01-06 06:59:15 -04:00			`#`
ROMFS: Corrected land detector startup scripts 2015-01-08 09:22:39 -04:00			`land_detector start fixedwing`