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78bbb66568
- introduce per module parameters (EKF2_EN, LPE_EN, ATT_EN) - add basic checks to prevent EKF2 + LPE running simultaneously
39 lines
639 B
Bash
39 lines
639 B
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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# Start Control Allocator
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#
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control_allocator start
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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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if param greater -s MC_AT_EN 0
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then
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mc_autotune_attitude_control start
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fi
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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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flight_mode_manager 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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