mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
42 lines
711 B
Plaintext
42 lines
711 B
Plaintext
#!nsh
|
|
#
|
|
# Standard apps for multirotors:
|
|
# att & pos estimator, att & pos control.
|
|
#
|
|
|
|
# The system is defaulting to INAV_ENABLED = 1
|
|
# but users can alternatively try the EKF-based
|
|
# filter by setting INAV_ENABLED = 0
|
|
if param compare INAV_ENABLED 1
|
|
then
|
|
attitude_estimator_q start
|
|
position_estimator_inav start
|
|
else
|
|
if param compare LPE_ENABLED 1
|
|
then
|
|
attitude_estimator_q start
|
|
local_position_estimator start
|
|
else
|
|
ekf_att_pos_estimator start
|
|
fi
|
|
fi
|
|
|
|
if mc_att_control start
|
|
then
|
|
else
|
|
# try the multiplatform version
|
|
mc_att_control_m start
|
|
fi
|
|
|
|
if mc_pos_control start
|
|
then
|
|
else
|
|
# try the multiplatform version
|
|
mc_pos_control_m start
|
|
fi
|
|
|
|
#
|
|
# Start Land Detector
|
|
#
|
|
land_detector start multicopter
|