Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-02 03:49:12 +08:00
Code Issues Actions 6 Packages Projects Releases Wiki Activity

LPE SITL script updates.

Browse Source
This commit is contained in:
James Goppert
2016-03-08 05:07:27 -05:00
parent 078628e74f
commit c677d446d3
2 changed files with 7 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
posix-configs/SITL/init/rcS_lpe_jmavsim_iris
+1 -5
View File
@@ -41,7 +41,6 @@ param set MPC_Z_VEL_P 0.4
# changes for LPE
param set COM_RC_IN_MODE 1
param set LPE_BETA_MAX 10000
rgbledsim start
tone_alarm start
@@ -57,6 +56,7 @@ commander start
land_detector start multicopter
navigator start
attitude_estimator_q start
local_position_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
@@ -73,7 +73,3 @@ mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
mavlink stream -r 20 -s MANUAL_CONTROL -u 14556
mavlink boot_complete
sdlog2 start -r 100 -e -t -a
# start LPE at end, when we know it is ok to init sensors
sleep 5
local_position_estimator start
src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+6 -3
View File
@@ -1498,9 +1498,12 @@ void BlockLocalPositionEstimator::correctGps()
mavlink_log_info(_mavlink_fd, "[lpe] S_I: %5.2f %5.2f %5.2f %5.2f %5.2f %5.2f",
double(S_I(0, 0)), double(S_I(1, 1)), double(S_I(2, 2)),
double(S_I(3, 3)), double(S_I(4, 4)), double(S_I(5, 5)));
mavlink_log_info(_mavlink_fd, "[lpe] r: %5.2f %5.2f %5.2f %5.2f %5.2f %5.2f",
double(r(0)), double(r(1)), double(r(2)),
double(r(3)), double(r(4)), double(r(5)));
warnx("[lpe] r: %5.2f %5.2f %5.2f %5.2f %5.2f %5.2f",
double(r(0)), double(r(1)), double(r(2)),
double(r(3)), double(r(4)), double(r(5)));
warnx("[lpe] S_I: %5.2f %5.2f %5.2f %5.2f %5.2f %5.2f",
double(S_I(0, 0)), double(S_I(1, 1)), double(S_I(2, 2)),
double(S_I(3, 3)), double(S_I(4, 4)), double(S_I(5, 5)));
_gpsFault = FAULT_MINOR;
}