启动:rcs文件:sh /etc/init.d/rc.mc_apps 在rc.mc_apps
#!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
# The system is defaulting to EKF_ATT_ENABLED = 1
# and uses the older EKF filter. However users can
# enable the new quaternion based complimentary
# filter by setting EKF_ATT_ENABLED = 0.
if param compare EKF_ATT_ENABLED 1
then
attitude_estimator_ekf start
else
attitude_estimator_q start
fi
#position_estimator_inav start
#pos_nav_kf start #huangtao
pos_inav_sonar start #huangtao
else
ekf_att_pos_estimator start
fi
if mc_att_control start
then
echo "mc_att_control start ok"
else
echo "mc_att_control start fail"
fi
if mc_pos_control start
then
echo "mc_pos_control start ok"
else
echo "mc_pos_control start fail"
fi
# Start Land Detector
land_detector start multicopter