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#!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 = 0
# and uses the new quaternion based complimentary
# filter. However users can enable the older EKF
# filter if they choose to.
if param compare EKF_ATT_ENABLED 1
then
attitude_estimator_ekf start
else
attitude_estimator_q start
fi
position_estimator_inav start
else
ekf_att_pos_estimator start
fi
if mc_att_control start
then
else
# try the multiplatform version
mc_att_control_m start
fi
if mc_pos_control start
then
else
# try the multiplatform version
mc_pos_control_m start
fi
#
# Start Land Detector
#
land_detector start multicopter
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