rc.airship_apps
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#!/bin/sh
#
# Standard apps for airships. Attitude/Position estimator, Attitude/Position control.
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
###############################################################################
# Begin Estimator Group Selection #
###############################################################################
#
# LPE
#
if param compare SYS_MC_EST_GROUP 1
then
#
# Try to start LPE. If it fails, start EKF2 as a default.
# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
#
if attitude_estimator_q start
then
echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
local_position_estimator start
else
echo "ERROR [init] Estimator LPE not available. Using EKF2"
param set SYS_MC_EST_GROUP 2
param save
reboot
fi
else
#
# Q estimator (attitude estimation only)
#
if param compare SYS_MC_EST_GROUP 3
then
attitude_estimator_q start
else
#
# EKF2
#
param set SYS_MC_EST_GROUP 2
ekf2 start &
fi
fi
###############################################################################
# End Estimator Group Selection #
###############################################################################
#
# Start Airship Attitude Controller.
#
airship_att_control start
#
# Start Land Detector.
#
land_detector start airship