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POSIX: Use the same estimators for multicopters as on the real system

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Lorenz Meier
2015-06-19 19:31:41 -07:00
parent 92d168a476
commit 7df785ed50
1 changed files with 4 additions and 1 deletions
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posix-configs/SITL/init/rcS
+4 -1
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@@ -3,6 +3,8 @@ param load
param set MAV_TYPE 2 param set MAV_TYPE 2
param set MC_PITCHRATE_P 0.05 param set MC_PITCHRATE_P 0.05
param set MC_ROLLRATE_P 0.05 param set MC_ROLLRATE_P 0.05
param set SYS_AUTOSTART 4010
param set COM_RC_IN_MODE 2
dataman start dataman start
mavlink start -u 14556 -r 60000 mavlink start -u 14556 -r 60000
simulator start -s simulator start -s
@@ -29,7 +31,8 @@ gpssim start
hil mode_pwm hil mode_pwm
commander start commander start
sensors start sensors start
ekf_att_pos_estimator start attitude_estimator_q start
position_estimator_inav start
mc_pos_control start mc_pos_control start
mc_att_control start mc_att_control start
mixer load /dev/pwm_output0 ../../ROMFS/px4fmu_common/mixers/quad_x.main.mix mixer load /dev/pwm_output0 ../../ROMFS/px4fmu_common/mixers/quad_x.main.mix