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boards: start enabling multi-EKF by default on F7/H7

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This commit is contained in:
Daniel Agar
2021-01-07 10:12:20 -05:00
committed by Lorenz Meier
parent b3257c0bf2
commit 763c3b8fda
21 changed files with 116 additions and 8 deletions
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boards/px4/fmu-v5/init/rc.board_defaults
+13 -1
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@@ -6,7 +6,19 @@
if [ $AUTOCNF = yes ]
then
if ver hwtypecmp V550 V560
then
# CUAV V5+ (V550) and V5nano (V560) have 3 IMUs
# Multi-EKF (IMUs only)
param set EKF2_MULTI_IMU 3
param set SENS_IMU_MODE 0
else
# Multi-EKF
param set EKF2_MULTI_IMU 2
param set SENS_IMU_MODE 0
param set EKF2_MULTI_MAG 2
param set SENS_MAG_MODE 0
fi
fi
# disable px4io on HolyBro mini (V540) and CUAV V5nano (V560)