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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>
32 lines
589 B
Plaintext
32 lines
589 B
Plaintext
uorb start
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qshell start
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param set SYS_AUTOSTART 4001
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param set SYS_AUTOCONFIG 1
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param set MAV_TYPE 2
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param set MC_YAW_P 1.5
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param set MC_PITCH_P 3.0
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param set MC_ROLL_P 3.0
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param set MC_YAWRATE_P 0.2
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param set MC_PITCHRATE_P 0.03
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param set MC_ROLLRATE_P 0.03
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sleep 1
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rc_update start
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commander start -hil
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sensors start
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ekf2 start
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mc_hover_thrust_estimator start
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mc_pos_control start
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mc_att_control start
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mc_rate_control start
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land_detector start multicopter
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sleep 1
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pwm_out_sim start
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mixer load /dev/pwm_output0 /startup/quad_x.main.mix
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list_files
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list_tasks
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sleep 10
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list_tasks
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sleep 10
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