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[WIP] VectorNav full INS with onboard (ekf2, etc) disabled

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This commit is contained in:
Daniel Agar
2023-04-17 14:01:31 -04:00
parent a11cced4b2
commit 2d5d2a929c
15 changed files with 200 additions and 176 deletions
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ROMFS/px4fmu_common/init.d/rc.airship_apps
-43
View File
@@ -5,49 +5,6 @@
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
###############################################################################
# Begin Estimator Group Selection #
###############################################################################
#
# LPE
#
if param compare SYS_MC_EST_GROUP 1
then
#
# Try to start LPE. If it fails, start EKF2 as a default.
# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
#
if attitude_estimator_q start
then
echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
local_position_estimator start
else
echo "ERROR [init] Estimator LPE not available. Using EKF2"
param set SYS_MC_EST_GROUP 2
param save
reboot
fi
else
#
# Q estimator (attitude estimation only)
#
if param compare SYS_MC_EST_GROUP 3
then
attitude_estimator_q start
else
#
# EKF2
#
param set SYS_MC_EST_GROUP 2
ekf2 start &
fi
fi
###############################################################################
# End Estimator Group Selection #
###############################################################################
#
# Start Control Allocator
#
ROMFS/px4fmu_common/init.d/rc.balloon_apps
-36
View File
@@ -4,39 +4,3 @@
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
#
# Start the attitude and position estimator.
#
if param compare SYS_MC_EST_GROUP 1
then
#
# Try to start LPE. If it fails, start EKF2 as a default.
# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
#
if attitude_estimator_q start
then
echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
local_position_estimator start
else
echo "ERROR [init] Estimator LPE not available. Using EKF2"
param set SYS_MC_EST_GROUP 2
param save
reboot
fi
else
#
# Q estimator (attitude estimation only)
#
if param compare SYS_MC_EST_GROUP 3
then
attitude_estimator_q start
else
#
# EKF2
#
param set SYS_MC_EST_GROUP 2
ekf2 start &
fi
fi
ROMFS/px4fmu_common/init.d/rc.fw_apps
-5
View File
@@ -5,11 +5,6 @@
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
#
# Start the attitude and position estimator.
#
ekf2 start &
#
# Start Control Allocator
#
ROMFS/px4fmu_common/init.d/rc.mc_apps
-39
View File
@@ -9,45 +9,6 @@
# Begin Estimator Group Selection #
###############################################################################
#
# LPE
#
if param compare SYS_MC_EST_GROUP 1
then
#
# Try to start LPE. If it fails, start EKF2 as a default.
# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
#
if attitude_estimator_q start
then
echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
local_position_estimator start
else
echo "ERROR [init] Estimator LPE not available. Using EKF2"
param set SYS_MC_EST_GROUP 2
param save
reboot
fi
else
#
# Q estimator (attitude estimation only)
#
if param compare SYS_MC_EST_GROUP 3
then
attitude_estimator_q start
else
#
# EKF2
#
param set SYS_MC_EST_GROUP 2
ekf2 start &
fi
fi
###############################################################################
# End Estimator Group Selection #
###############################################################################
#
# Start Control Allocator
#
ROMFS/px4fmu_common/init.d/rc.rover_apps
-7
View File
@@ -5,13 +5,6 @@
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
#
# Start the attitude and position estimator.
#
ekf2 start &
#attitude_estimator_q start
#local_position_estimator start
#
# Start Control Allocator
#
ROMFS/px4fmu_common/init.d/rc.uuv_apps
-10
View File
@@ -5,16 +5,6 @@
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
###############################################################################
# Begin Estimator Group Selection #
###############################################################################
ekf2 start &
###############################################################################
# End Estimator Group Selection #
###############################################################################
#
# Start Control Allocator
#
ROMFS/px4fmu_common/init.d/rc.vehicle_setup
+35 -1
View File
@@ -5,6 +5,41 @@
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
# Start the attitude and position estimator.
if param compare -s SYS_MC_EST_GROUP 1
then
#
# Try to start LPE. If it fails, start EKF2 as a default.
# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
#
if attitude_estimator_q start
then
echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
local_position_estimator start
else
echo "ERROR [init] Estimator LPE not available. Using EKF2"
param set SYS_MC_EST_GROUP 2
param save
reboot
fi
else
# Q estimator (attitude estimation only)
if param compare -s SYS_MC_EST_GROUP 3
then
attitude_estimator_q start
fi
fi
if param compare -s SYS_MC_EST_GROUP 2
then
param set EKF2_EN 1
fi
if param compare -s EKF2_EN 1
then
ekf2 start &
fi
#
# Fixed wing setup.
#
@@ -67,5 +102,4 @@ fi
if [ $VEHICLE_TYPE = none ]
then
echo "No autostart ID found"
ekf2 start &
fi
ROMFS/px4fmu_common/init.d/rc.vtol_apps
-10
View File
@@ -5,16 +5,6 @@
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
###############################################################################
# Begin Estimator group selection #
###############################################################################
ekf2 start &
###############################################################################
# End Estimator group selection #
###############################################################################
#
# Start Control Allocator
#