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LPE fault relaxation and sitl fix (#6146)

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* Set LPE FUSE for standard iris sitl config.

* Relax fault detection handling.

* Always correct lidar.
This commit is contained in:
James Goppert
2016-12-23 15:08:37 -05:00
committed by GitHub
parent 661fda2b2a
commit c28cd76e5f
9 changed files with 37 additions and 40 deletions
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posix-configs/SITL/init/lpe/iris
+3
View File
@@ -42,6 +42,9 @@ param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_I 0.15
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set LPE_FUSION 247
# 11110111 no vis yaw (1 << 3)
replay tryapplyparams
simulator start -s
rgbledsim start
posix-configs/SITL/init/lpe/iris_opt_flow
+1 -1
View File
@@ -61,7 +61,7 @@ param set MIS_TAKEOFF_ALT 2
param set NAV_ACC_RAD 1.0
param set CBRK_GPSFAIL 240024
param set LPE_FUSION 246
# 11110110 no vis (1 << 3) yaw and no gps (1 << 0)
# 11110110 no vis yaw (1 << 3) and no gps (1 << 0)
replay tryapplyparams
simulator start -s