mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-13 13:11:35 +08:00
JacobCrabill
c1ca5b50a4
- Add 'actuatorType()' to ActuatorEffectiveness - Map outputs to uORB topics by type - Fix incorrect number of outputs in StandardVTOL - Fix 1050_standard_vtol_ctrlalloc airframe file
53 lines
1.3 KiB
Bash
53 lines
1.3 KiB
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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if param compare SYS_CTRL_ALLOC 1
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then
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#
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# Start Control Allocator
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#
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control_allocator start
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#
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# Disable hover thrust estimator and prearming
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# These features are currently incompatible with control allocation
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#
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# TODO: fix
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#
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param set MPC_USE_HTE 0
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fi
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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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flight_mode_manager start
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mc_pos_control start vtol
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mc_hover_thrust_estimator start
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mc_autotune_attitude_control start
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fw_att_control start vtol
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fw_pos_control_l1 start vtol
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fw_autotune_attitude_control 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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