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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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f9794e99f8
* MC_HTE: unitialize with hover_thrust parameter * MC_HTE: constrain hover thrust setter between 0.1 and 0.9 * MC_HTE: integrate with land detector and velocity controller * MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value. * MC_HTE: use altitude agl threshold to start the estimator local_position.z is relative to the origin of the EKF while dist_bottom is above ground Co-authored-by: bresch <brescianimathieu@gmail.com>
71 lines
1.6 KiB
Bash
71 lines
1.6 KiB
Bash
#!/bin/sh
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#
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# Standard apps for multirotors. 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 Multicopter Rate Controller.
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#
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mc_rate_control start
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#
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# Start Multicopter Attitude Controller.
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#
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mc_att_control start
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#
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# Start Multicopter Position Controller.
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#
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mc_hover_thrust_estimator start
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mc_pos_control start
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#
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# Start Multicopter Land Detector.
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#
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land_detector start multicopter
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