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SITL init: set EKF2 params for SITL

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The sensors in the SITL environment are near ideal, so the
initialization in ekf2 can happen quicker.
This commit is contained in:
Julian Oes
2016-05-17 09:14:59 -04:00
committed by Paul Riseborough
parent 1e155776fd
commit 6ddffb71ea
2 changed files with 4 additions and 0 deletions
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posix-configs/SITL/init/rcS_gazebo_iris
+2
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@@ -33,6 +33,8 @@ param set MC_PITCH_P 5
param set MC_ROLL_P 5
param set MPC_Z_VEL_P 0.8
param set MPC_Z_VEL_I 0.15
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
simulator start -s
rgbledsim start
tone_alarm start
posix-configs/SITL/init/rcS_jmavsim_iris
+2
View File
@@ -40,6 +40,8 @@ param set MPC_HOLD_MAX_Z 2.0
param set MPC_HOLD_XY_DZ 0.1
param set MPC_Z_VEL_MAX 2.0
param set MPC_Z_VEL_P 0.4
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
simulator start -s
rgbledsim start
tone_alarm start