diff options
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.mc_apps | 13 |
1 files changed, 9 insertions, 4 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_apps b/ROMFS/px4fmu_common/init.d/rc.mc_apps index e2fe67946..6517e026a 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_apps +++ b/ROMFS/px4fmu_common/init.d/rc.mc_apps @@ -4,10 +4,15 @@ # att & pos estimator, att & pos control. # -# previously (2014) the system was relying on -#attitude_estimator_ekf start -#position_estimator_inav start -ekf_att_pos_estimator start +# previously (2014) the system was relying on +# INAV, which defaults to 0 now. +if param compare INAV_ENABLED 1 +then + attitude_estimator_ekf start + position_estimator_inav start +else + ekf_att_pos_estimator start +fi if mc_att_control start then |