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startup scripts: remove INAV, start LPE if INAV selected

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This commit is contained in:
Beat Küng
2016-11-07 15:10:03 +01:00
parent 246dc5421b
commit 66ffc834d3
3 changed files with 9 additions and 8 deletions
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ROMFS/px4fmu_common/init.d/rc.mc_apps
+4 -3
View File
@@ -8,11 +8,12 @@
#---------------------------------------
# Estimator group selction
#
# INAV
# INAV (deprecated)
if param compare SYS_MC_EST_GROUP 0
then
attitude_estimator_q start
position_estimator_inav start
echo "ERROR [init] Estimator INAV deprecated. Using LPE"
param set SYS_MC_EST_GROUP 1
param save
fi
# LPE
ROMFS/px4fmu_common/init.d/rc.vtol_apps
+4 -3
View File
@@ -9,11 +9,12 @@
#---------------------------------------
# Estimator group selction
#
# INAV
# INAV (deprecated)
if param compare SYS_MC_EST_GROUP 0
then
attitude_estimator_q start
position_estimator_inav start
echo "ERROR [init] Estimator INAV deprecated. Using LPE"
param set SYS_MC_EST_GROUP 1
param save
fi
# LPE
src/modules/systemlib/system_params.c
+1 -2
View File
@@ -95,11 +95,10 @@ PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2);
*
* Set the group of estimators used for multicopters and vtols
*
* @value 0 position_estimator_inav, attitude_estimator_q
* @value 1 local_position_estimator, attitude_estimator_q
* @value 2 ekf2
*
* @min 0
* @min 1
* @max 2
* @reboot_required true
* @group System