X5之position_estimator_inav_main.c

启动：rcs文件：sh /etc/init.d/rc.mc_apps   在rc.mc_apps 

#!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 = 1
    # and uses the older EKF filter. However users can
    # enable the new quaternion based complimentary
    # filter by setting EKF_ATT_ENABLED = 0.
    if param compare EKF_ATT_ENABLED 1
    then
        attitude_estimator_ekf start
    else
        attitude_estimator_q start
    fi
    #position_estimator_inav start
    #pos_nav_kf start    #huangtao
    pos_inav_sonar start    #huangtao
else
    ekf_att_pos_estimator start
fi

if mc_att_control start
then
    echo "mc_att_control start ok"
else
    echo "mc_att_control start fail"
fi

if mc_pos_control start
then
    echo "mc_pos_control start ok"
else
    echo "mc_pos_control start fail"
fi


# Start Land Detector
land_detector start multicopter