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ekf2 selector fix SITL lockstep

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- ekf2 selector don't register lockstep until first attitude publication
 - sensors module register lockstep component
 - enable multi-EKF2 in SITL
This commit is contained in:
Daniel Agar
2020-10-27 19:16:51 -04:00
parent b1dc1b1ecd
commit 2c874f1cd9
3 changed files with 29 additions and 10 deletions
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ROMFS/px4fmu_common/init.d-posix/rcS
+4 -4
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@@ -142,10 +142,10 @@ then
param set EKF2_REQ_GPS_H 0.5
# Multi-EKF
#param set EKF2_MULTI_IMU 3
#param set SENS_IMU_MODE 0
#param set EKF2_MULTI_MAG 2
#param set SENS_MAG_MODE 0
param set EKF2_MULTI_IMU 3
param set SENS_IMU_MODE 0
param set EKF2_MULTI_MAG 2
param set SENS_MAG_MODE 0
# By default log from boot until first disarm.
param set SDLOG_MODE 1