mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 01:33:34 +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>
34 lines
991 B
Bash
34 lines
991 B
Bash
#!/bin/sh
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#
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# Standard apps for vtol: 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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ekf2 start &
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###############################################################################
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# End Estimator group selection #
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###############################################################################
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airspeed_selector start
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vtol_att_control start
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mc_rate_control start vtol
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mc_att_control start vtol
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mc_pos_control start vtol
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mc_hover_thrust_estimator start
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fw_att_control start vtol
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fw_pos_control_l1 start vtol
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# Start Land Detector
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# Multicopter for now until we have something for VTOL
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#
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land_detector start vtol
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