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#!nsh
#
# Standard apps for multirotors:
# att & pos estimator, att & pos control.
#
# 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
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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