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sitl ekf2 config: add vision position estimate

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This commit is contained in:
ChristophTobler
2018-01-28 19:12:38 +01:00
committed by Lorenz Meier
parent c272feb71d
commit cf79be1559
1 changed files with 4 additions and 0 deletions
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posix-configs/SITL/init/ekf2/iris_opt_flow
+4
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@@ -45,6 +45,9 @@ param set EKF2_ANGERR_INIT 0.01
param set EKF2_MAG_TYPE 1 param set EKF2_MAG_TYPE 1
param set EKF2_AID_MASK 2 param set EKF2_AID_MASK 2
param set EKF2_HGT_MODE 2 param set EKF2_HGT_MODE 2
param set EKF2_EV_DELAY 5
param set EKF2_EVP_NOISE 0.05
param set EKF2_EVA_NOISE 0.05
replay tryapplyparams replay tryapplyparams
simulator start -s simulator start -s
tone_alarm start tone_alarm start
@@ -75,6 +78,7 @@ mavlink stream -r 20 -s RC_CHANNELS -u 14556
mavlink stream -r 250 -s HIGHRES_IMU -u 14556 mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
mavlink stream -r 10 -s DISTANCE_SENSOR -u 14556 mavlink stream -r 10 -s DISTANCE_SENSOR -u 14556
mavlink stream -r 10 -s VISION_POSITION_ESTIMATE -u 14556
logger start -e -t logger start -e -t
mavlink boot_complete mavlink boot_complete
replay trystart replay trystart