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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-02 05:04:08 +08:00
0f411d6820
- 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>
60 lines
1.4 KiB
Bash
60 lines
1.4 KiB
Bash
#!/bin/sh
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#
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# Standard apps for airships. Attitude/Position estimator, Attitude/Position control.
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#
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# NOTE: Script variables are declared/initialized/unset in the rcS script.
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#
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###############################################################################
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# Begin Estimator Group Selection #
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###############################################################################
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#
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# LPE
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#
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if param compare SYS_MC_EST_GROUP 1
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then
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#
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# Try to start LPE. If it fails, start EKF2 as a default.
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# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
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#
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if attitude_estimator_q start
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then
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echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
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local_position_estimator start
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else
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echo "ERROR [init] Estimator LPE not available. Using EKF2"
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param set SYS_MC_EST_GROUP 2
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param save
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reboot
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fi
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else
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#
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# Q estimator (attitude estimation only)
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#
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if param compare SYS_MC_EST_GROUP 3
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then
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attitude_estimator_q start
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else
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#
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# EKF2
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#
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param set SYS_MC_EST_GROUP 2
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ekf2 start &
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fi
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fi
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###############################################################################
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# End Estimator Group Selection #
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###############################################################################
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#
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# Start Airship Attitude Controller.
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#
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airship_att_control start
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#
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# Start Land Detector.
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#
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land_detector start airship
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