mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-17 13:43:33 +08:00
Daniel AgarandPaul Riseborough
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>
204 lines
3.2 KiB
Bash
204 lines
3.2 KiB
Bash
#!/bin/sh
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#
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# Vehicle configuration setup script.
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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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# Fixed wing setup.
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#
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if [ $VEHICLE_TYPE = fw ]
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then
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if [ $MIXER = none ]
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then
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# Set default mixer for fixed wing if not defined.
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set MIXER AERT
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fi
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if [ $MAV_TYPE = none ]
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then
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# Set a default MAV_TYPE = 1 if not defined.
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set MAV_TYPE 1
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fi
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# Set the mav type parameter.
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param set MAV_TYPE ${MAV_TYPE}
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# Load mixer and configure outputs.
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. ${R}etc/init.d/rc.interface
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# Start standard fixedwing apps.
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. ${R}etc/init.d/rc.fw_apps
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fi
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#
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# Multicopter setup.
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#
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if [ $VEHICLE_TYPE = mc ]
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then
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if [ $MIXER = none ]
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then
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echo "MC mixer undefined"
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fi
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if [ $MAV_TYPE = none ]
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then
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# Set a default MAV_TYPE = 2 if not defined.
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set MAV_TYPE 2
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# Use mixer to detect vehicle type
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if [ $MIXER = coax ]
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then
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set MAV_TYPE 3
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fi
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if [ $MIXER = hexa_x -o $MIXER = hexa_+ ]
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then
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set MAV_TYPE 13
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fi
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if [ $MIXER = hexa_cox ]
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then
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set MAV_TYPE 13
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fi
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if [ $MIXER = octo_x -o $MIXER = octo_+ ]
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then
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set MAV_TYPE 14
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fi
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if [ $MIXER = octo_cox -o $MIXER = octo_cox_w ]
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then
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set MAV_TYPE 14
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fi
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if [ $MIXER = tri_y_yaw- -o $MIXER = tri_y_yaw+ ]
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then
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set MAV_TYPE 15
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fi
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fi
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# Set the mav type parameter.
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param set MAV_TYPE ${MAV_TYPE}
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# Load mixer and configure outputs.
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. ${R}etc/init.d/rc.interface
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# Start standard multicopter apps.
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. ${R}etc/init.d/rc.mc_apps
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fi
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#
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# UGV setup.
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#
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if [ $VEHICLE_TYPE = rover ]
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then
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if [ $MIXER = none ]
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then
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# Set default mixer for UGV if not defined.
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set MIXER rover_generic
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fi
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if [ $MAV_TYPE = none ]
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then
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# Set a default MAV_TYPE = 10 if not defined.
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set MAV_TYPE 10
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fi
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# Set the mav type parameter.
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param set MAV_TYPE ${MAV_TYPE}
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# Load mixer and configure outputs.
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. ${R}etc/init.d/rc.interface
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# Start standard UGV apps.
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. ${R}etc/init.d/rc.rover_apps
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fi
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#
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# VTOL setup.
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#
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if [ $VEHICLE_TYPE = vtol ]
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then
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if [ $MIXER = none ]
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then
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echo "VTOL mixer undefined"
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fi
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if [ $MAV_TYPE = none ]
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then
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# Set a default MAV_TYPE = 19 if not defined.
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set MAV_TYPE 19
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# Use mixer to detect vehicle type.
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if [ $MIXER = firefly6 ]
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then
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set MAV_TYPE 21
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fi
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if [ $MIXER = quad_x_pusher_vtol ]
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then
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set MAV_TYPE 22
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fi
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fi
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# Set the mav type parameter.
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param set MAV_TYPE ${MAV_TYPE}
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# Load mixer and configure outputs.
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. ${R}etc/init.d/rc.interface
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# Start standard vtol apps.
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. ${R}etc/init.d/rc.vtol_apps
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fi
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#
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# Airship setup.
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#
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if [ $VEHICLE_TYPE = airship ]
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then
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if [ $MIXER = none ]
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then
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echo "Airship mixer undefined"
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fi
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if [ $MAV_TYPE = none ]
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then
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# Set a default MAV_TYPE = 7 if not defined.
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set MAV_TYPE 7
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fi
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# Set the mav type parameter.
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param set MAV_TYPE ${MAV_TYPE}
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# Load mixer and configure outputs.
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. ${R}etc/init.d/rc.interface
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# Start airship apps.
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. ${R}etc/init.d/rc.airship_apps
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fi
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#
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# UUV setup
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#
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if [ $VEHICLE_TYPE = uuv ]
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then
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if [ $MIXER = none ]
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then
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echo "UUV mixer undefined"
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fi
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# Load mixer and configure outputs.
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. ${R}etc/init.d/rc.interface
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# Start standard vtol apps.
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. ${R}etc/init.d/rc.uuv_apps
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fi
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#
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# Generic setup (autostart ID not found).
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#
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if [ $VEHICLE_TYPE = none ]
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then
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echo "No autostart ID found"
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ekf2 start &
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fi
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