#!/bin/sh
#
# Standard apps for new control allocation and controllers
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#

#
# Start angular velocity controller
#
angular_velocity_controller start
mc_rate_control stop

#
# Start Control Allocator
#
control_allocator start

#
# Disable hover thrust estimator and prearming
# These features are currently incompatible with control allocation
#
# TODO: fix
#
param set MPC_USE_HTE 0
param set COM_PREARM_MODE 0