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f9794e99f8
* MC_HTE: unitialize with hover_thrust parameter * MC_HTE: constrain hover thrust setter between 0.1 and 0.9 * MC_HTE: integrate with land detector and velocity controller * MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value. * MC_HTE: use altitude agl threshold to start the estimator local_position.z is relative to the origin of the EKF while dist_bottom is above ground Co-authored-by: bresch <brescianimathieu@gmail.com>
34 lines
989 B
Bash
34 lines
989 B
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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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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mc_pos_control start vtol
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mc_hover_thrust_estimator start
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fw_att_control start vtol
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fw_pos_control_l1 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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