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lpe : default fusion flags for GPS-only use

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This commit is contained in:
Mohammed Kabir
2017-03-25 10:22:27 +05:30
committed by Lorenz Meier
parent de6302c418
commit 679b59b8d4
3 changed files with 8 additions and 7 deletions
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posix-configs/SITL/init/lpe/iris
+2 -2
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@@ -41,8 +41,8 @@ param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_I 0.15 param set MPC_Z_VEL_I 0.15
param set EKF2_GBIAS_INIT 0.01 param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01 param set EKF2_ANGERR_INIT 0.01
param set LPE_FUSION 247 # GPS only mode
# 11110111 no vis yaw (1 << 3) param set LPE_FUSION 145
replay tryapplyparams replay tryapplyparams
simulator start -s simulator start -s
posix-configs/SITL/init/lpe/iris_opt_flow
+3 -2
View File
@@ -59,8 +59,9 @@ param set MPC_XY_P 0.5
param set MIS_TAKEOFF_ALT 2 param set MIS_TAKEOFF_ALT 2
param set NAV_ACC_RAD 1.0 param set NAV_ACC_RAD 1.0
param set CBRK_GPSFAIL 240024 param set CBRK_GPSFAIL 240024
param set LPE_FUSION 246 # Flow-only mode
# 11110110 no vis yaw (1 << 3) and no gps (1 << 0) param set LPE_FUSION 242
param set FAKE_ORIGIN 1
replay tryapplyparams replay tryapplyparams
simulator start -s simulator start -s
src/modules/local_position_estimator/params.c
+3 -3
View File
@@ -345,7 +345,7 @@ PARAM_DEFINE_FLOAT(LPE_FGYRO_HP, 0.001f);
* @min 0 * @min 0
* @max 1 * @max 1
*/ */
PARAM_DEFINE_INT32(LPE_FAKE_ORIGIN, 1); PARAM_DEFINE_INT32(LPE_FAKE_ORIGIN, 0);
/** /**
* Local origin latitude for nav w/o GPS * Local origin latitude for nav w/o GPS
@@ -437,7 +437,7 @@ PARAM_DEFINE_FLOAT(LPE_LAND_VXY, 0.05f);
* 6 : Set to true to enable flow gyro compensation * 6 : Set to true to enable flow gyro compensation
* 7 : Set to true to enable baro fusion * 7 : Set to true to enable baro fusion
* *
* default (247, no vision yaw) * default (145 - GPS only)
* *
* @group Local Position Estimator * @group Local Position Estimator
* @min 0 * @min 0
@@ -451,4 +451,4 @@ PARAM_DEFINE_FLOAT(LPE_LAND_VXY, 0.05f);
* @bit 6 flow gyro compensation * @bit 6 flow gyro compensation
* @bit 7 fuse baro * @bit 7 fuse baro
*/ */
PARAM_DEFINE_INT32(LPE_FUSION, 247); PARAM_DEFINE_INT32(LPE_FUSION, 145);