#!/bin/sh
#
# @name Omni Tiltrotor
# @type Quadrotor
# @class Copter
# @maintainer TeleAI Sunxiaoyu
#

. ${R}etc/init.d/rc.mc_defaults

# 注意：新版 Gazebo 环境下，这个变量名必须对应
export PX4_SIM_MODEL=omni_tiltrotor

# 禁用默认控制器
param set-default SYS_HAS_MAG 0
set VEHICLE_MC_RATE_CONTROL disable
set VEHICLE_MC_ATT_CONTROL disable

# 启动你的模块
omni_control start