From 703141d650c95205655cb21476a5f0cf1a31334c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 6 Jul 2016 13:37:46 +0200 Subject: [PATCH] Estimator cleanup --- ROMFS/tap_common/init.d/rc.mc_apps | 24 +----------------------- ROMFS/tap_common/init.d/rc.vtol_apps | 22 +--------------------- 2 files changed, 2 insertions(+), 44 deletions(-) diff --git a/ROMFS/tap_common/init.d/rc.mc_apps b/ROMFS/tap_common/init.d/rc.mc_apps index 399f4398ac..607dffd5b0 100644 --- a/ROMFS/tap_common/init.d/rc.mc_apps +++ b/ROMFS/tap_common/init.d/rc.mc_apps @@ -5,29 +5,7 @@ # -#--------------------------------------- -# Estimator group selction -# -# INAV -if param compare SYS_MC_EST_GROUP 0 -then - attitude_estimator_q start - position_estimator_inav start -fi - -# LPE -if param compare SYS_MC_EST_GROUP 1 -then - attitude_estimator_q start - local_position_estimator start -fi - -# EKF -if param compare SYS_MC_EST_GROUP 2 -then - ekf2 start -fi -#--------------------------------------- +ekf2 start mc_att_control start diff --git a/ROMFS/tap_common/init.d/rc.vtol_apps b/ROMFS/tap_common/init.d/rc.vtol_apps index c3d54fd299..0ae3f28950 100644 --- a/ROMFS/tap_common/init.d/rc.vtol_apps +++ b/ROMFS/tap_common/init.d/rc.vtol_apps @@ -9,27 +9,7 @@ #--------------------------------------- # Estimator group selction # -# INAV -if param compare SYS_MC_EST_GROUP 0 -then - attitude_estimator_q start - position_estimator_inav start -fi - -# LPE -if param compare SYS_MC_EST_GROUP 1 -then - attitude_estimator_q start - local_position_estimator start -fi - -# EKF -if param compare SYS_MC_EST_GROUP 2 -then - ekf2 start -fi -#--------------------------------------- - +ekf2 start vtol_att_control start mc_att_control start