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343cf5603e
- control allocation module with multirotor, VTOL standard, and tiltrotor support - angular_velocity_controller - See https://github.com/PX4/PX4-Autopilot/pull/13351 for details Co-authored-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Roman Bapst <bapstroman@gmail.com>
27 lines
487 B
Bash
27 lines
487 B
Bash
#!/bin/sh
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#
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# Standard apps for new control allocation and controllers
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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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# Start angular velocity controller
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#
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angular_velocity_controller start
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mc_rate_control stop
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#
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# Start Control Allocator
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#
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control_allocator start
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#
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# Disable hover thrust estimator and prearming
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# These features are currently incompatible with control allocation
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#
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# TODO: fix
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#
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param set MPC_USE_HTE 0
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param set COM_PREARM_MODE 0
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