diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rc.multirotor')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.multirotor | 49 |
1 files changed, 49 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.multirotor b/ROMFS/px4fmu_common/init.d/rc.multirotor new file mode 100644 index 000000000..81184f363 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.multirotor @@ -0,0 +1,49 @@ +#!nsh +# +# Standard everything needed for multirotors except mixer, output and mavlink +# + +# +# Start the sensors and test them. +# +sh /etc/init.d/rc.sensors + +# +# Start the commander. +# +commander start + +# +# Start GPS interface (depends on orb) +# +gps start + +# +# Start the attitude estimator +# +attitude_estimator_ekf start + +# +# Start position estimator +# +position_estimator_inav start + +# +# Start attitude control +# +multirotor_att_control start + +# +# Start position control +# +multirotor_pos_control start + +# +# Start logging +# +if [ $BOARD == fmuv1 ] +then + sdlog2 start -r 50 -a -b 16 +else + sdlog2 start -r 200 -a -b 16 +fi |