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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Roman
e504dc86b7
- need to make some flash space for fmuv2 to avoid user confusion about why it wind estimator only runs on some platforms Signed-off-by: Roman <bapstroman@gmail.com>
59 lines
1.1 KiB
Plaintext
59 lines
1.1 KiB
Plaintext
#!nsh
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#
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# Standard apps for vtol:
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# att & pos estimator, att & pos control.
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#
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#
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#---------------------------------------
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# Estimator group selction
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#
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# INAV (deprecated)
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if param compare SYS_MC_EST_GROUP 0
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then
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echo "ERROR [init] Estimator INAV deprecated. Using EKF2"
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param set SYS_MC_EST_GROUP 2
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param save
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fi
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# LPE
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if param compare SYS_MC_EST_GROUP 1
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then
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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 px4fmu-v2 due to a limited flash.
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if attitude_estimator_q start
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then
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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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fi
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fi
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# EKF
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if param compare SYS_MC_EST_GROUP 2
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then
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ekf2 start
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fi
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#---------------------------------------
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vtol_att_control start
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mc_att_control start
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mc_pos_control start
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fw_att_control start
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fw_pos_control_l1 start
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#
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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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#
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# Start Wind and Airspeed Scale Estimator
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#
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#wind_estimator start
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