forked from Archive/PX4-Autopilot
47 lines
1.2 KiB
Bash
47 lines
1.2 KiB
Bash
#!/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
|