mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-29 19:13:33 +08:00
RomanBapst
a2ba0e0c7a
- split up old module into two, one handling setpoint generation, one control - add lateral and longitudinal control setpoints topics that can also be injected from companion computer - add configuration topics that (optionally) configure the controller with limits and momentary settings Signed-off-by: RomanBapst <bapstroman@gmail.com>
38 lines
741 B
Bash
38 lines
741 B
Bash
#!/bin/sh
|
|
#
|
|
# Standard apps for vtol: Attitude/Position estimator, Attitude/Position control.
|
|
#
|
|
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
|
#
|
|
|
|
#
|
|
# Start Control Allocator
|
|
#
|
|
control_allocator start
|
|
|
|
airspeed_selector start
|
|
|
|
vtol_att_control start
|
|
|
|
mc_rate_control start vtol
|
|
mc_att_control start vtol
|
|
flight_mode_manager start
|
|
mc_pos_control start vtol
|
|
mc_hover_thrust_estimator start
|
|
|
|
if param greater -s MC_AT_EN 0
|
|
then
|
|
mc_autotune_attitude_control start
|
|
fi
|
|
|
|
fw_rate_control start vtol
|
|
fw_att_control start vtol
|
|
fw_pos_control start
|
|
fw_lat_lon_control start vtol
|
|
fw_autotune_attitude_control start vtol
|
|
|
|
# Start Land Detector
|
|
# Multicopter for now until we have something for VTOL
|
|
#
|
|
land_detector start vtol
|