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FW SITL enable FW EKF2 default parameters

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Daniel Agar
2018-03-30 19:00:39 -04:00
parent 752d43d94c
commit 2c31671cc2
1 changed files with 38 additions and 26 deletions
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64
posix-configs/SITL/init/ekf2/plane
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@@ -1,11 +1,9 @@
uorb start
param load
param set MAV_TYPE 1
param set SYS_AUTOSTART 3033
param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2
dataman start
param set BAT_N_CELLS 3
param set CAL_ACC0_ID 1376264
param set CAL_ACC0_XOFF 0.01
param set CAL_ACC0_XSCALE 1.01
@@ -19,38 +17,52 @@ param set CAL_GYRO0_ID 2293768
param set CAL_GYRO0_XOFF 0.01
param set CAL_MAG0_ID 196616
param set CAL_MAG0_XOFF 0.01
param set COM_POS_FS_DELAY 5
param set COM_POS_FS_GAIN 0
param set COM_POS_FS_PROB 1
param set COM_RC_IN_MODE 1
param set EKF2_AID_MASK 1
param set EKF2_ANGERR_INIT 0.01
param set EKF2_ARSP_THR 8.0
param set EKF2_FUSE_BETA 1
param set EKF2_GBIAS_INIT 0.01
param set EKF2_HGT_MODE 0
param set EKF2_MAG_ACCLIM 0
param set EKF2_MAG_TYPE 1
param set EKF2_MAG_YAWLIM 0
param set FW_LND_ANG 8
param set FW_P_TC 0.5
param set FW_PR_FF 0.40
param set FW_PR_I 0.05
param set FW_PR_P 0.05
param set FW_R_TC 0.7
param set FW_RR_FF 0.20
param set FW_RR_I 0.02
param set FW_RR_P 0.22
param set FW_THR_IDLE 0.15
param set FW_W_EN 1
param set MAV_TYPE 1
param set MIS_LTRMIN_ALT 30
param set MIS_TAKEOFF_ALT 30
param set NAV_ACC_RAD 15.0
param set NAV_DLL_ACT 2
param set NAV_LOITER_RAD 50
param set RWTO_TKOFF 1
param set SDLOG_DIRS_MAX 7
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set SENS_DPRES_OFF 0.001
param set SDLOG_DIRS_MAX 7
param set EKF2_AID_MASK 1
param set EKF2_ANGERR_INIT 0.01
param set EKF2_GBIAS_INIT 0.01
param set EKF2_HGT_MODE 0
param set EKF2_MAG_TYPE 1
param set FW_LND_ANG 8
param set FW_THR_IDLE 0.15
param set FW_R_TC 0.7
param set FW_RR_FF 0.20
param set FW_RR_I 0.02
param set FW_RR_P 0.22
param set FW_P_TC 0.5
param set FW_PR_FF 0.40
param set FW_PR_I 0.05
param set FW_PR_P 0.05
param set FW_W_EN 1
param set RWTO_TKOFF 1
param set SYS_AUTOSTART 3033
param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2
replay tryapplyparams
simulator start -s