set EKF2_AID_MASK and EKF2_HGT_MODE because of iris_opt_flow

posix-configs/SITL/init/ekf2/iris

@@ -1,48 +1,50 @@
 uorb start
 param load
-param set MAV_TYPE 2
-param set SYS_AUTOSTART 4010
-param set SYS_RESTART_TYPE 2
-param set SYS_MC_EST_GROUP 2
 dataman start
 param set BAT_N_CELLS 3
-param set CAL_GYRO0_ID 2293768
 param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set CAL_GYRO0_XOFF 0.01
 param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_ZOFF 0.01
 param set CAL_ACC0_XSCALE 1.01
+param set CAL_ACC0_YOFF -0.01
 param set CAL_ACC0_YSCALE 1.01
+param set CAL_ACC0_ZOFF 0.01
 param set CAL_ACC0_ZSCALE 1.01
+param set CAL_ACC1_ID 1310728
 param set CAL_ACC1_XOFF 0.01
+param set CAL_GYRO0_ID 2293768
+param set CAL_GYRO0_XOFF 0.01
+param set CAL_MAG0_ID 196616
 param set CAL_MAG0_XOFF 0.01
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
 param set COM_DISARM_LAND 3
-param set NAV_ACC_RAD 2.0
-param set COM_OF_LOSS_T 5
 param set COM_OBL_ACT 2
 param set COM_OBL_RC_ACT 0
-param set RTL_RETURN_ALT 30.0
+param set COM_OF_LOSS_T 5
-param set RTL_DESCEND_ALT 5.0
+param set COM_RC_IN_MODE 1
-param set RTL_LAND_DELAY 5
+param set EKF2_AID_MASK 1
-param set MIS_TAKEOFF_ALT 2.5
+param set EKF2_ANGERR_INIT 0.01
-param set MC_ROLLRATE_P 0.2
+param set EKF2_GBIAS_INIT 0.01
-param set MC_PITCHRATE_P 0.2
+param set EKF2_HGT_MODE 0
+param set EKF2_MAG_TYPE 1
+param set MAV_TYPE 2
 param set MC_PITCH_P 6
+param set MC_PITCHRATE_P 0.2
 param set MC_ROLL_P 6
+param set MC_ROLLRATE_P 0.2
+param set MIS_TAKEOFF_ALT 2.5
 param set MPC_HOLD_MAX_Z 2.0
 param set MPC_HOLD_XY_DZ 0.1
-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 MPC_Z_VEL_P 0.6
-param set EKF2_ANGERR_INIT 0.01
+param set NAV_ACC_RAD 2.0
-param set EKF2_MAG_TYPE 1
+param set NAV_DLL_ACT 2
+param set RTL_DESCEND_ALT 5.0
+param set RTL_LAND_DELAY 5
+param set RTL_RETURN_ALT 30.0
+param set SENS_BOARD_ROT 0
+param set SENS_BOARD_X_OFF 0.000001
+param set SYS_AUTOSTART 4010
+param set SYS_MC_EST_GROUP 2
+param set SYS_RESTART_TYPE 2
 replay tryapplyparams
 simulator start -s
 tone_alarm start

posix-configs/SITL/init/ekf2/multiple_iris

@@ -1,48 +1,50 @@
 uorb start
 param load
-param set MAV_TYPE 2
-param set SYS_AUTOSTART 4010
-param set SYS_RESTART_TYPE 2
-param set SYS_MC_EST_GROUP 2
 dataman start
 param set BAT_N_CELLS 3
-param set CAL_GYRO0_ID 2293768
 param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set CAL_GYRO0_XOFF 0.01
 param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_ZOFF 0.01
 param set CAL_ACC0_XSCALE 1.01
+param set CAL_ACC0_YOFF -0.01
 param set CAL_ACC0_YSCALE 1.01
+param set CAL_ACC0_ZOFF 0.01
 param set CAL_ACC0_ZSCALE 1.01
+param set CAL_ACC1_ID 1310728
 param set CAL_ACC1_XOFF 0.01
+param set CAL_GYRO0_ID 2293768
+param set CAL_GYRO0_XOFF 0.01
+param set CAL_MAG0_ID 196616
 param set CAL_MAG0_XOFF 0.01
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
 param set COM_DISARM_LAND 3
-param set NAV_ACC_RAD 2.0
-param set COM_OF_LOSS_T 5
 param set COM_OBL_ACT 2
 param set COM_OBL_RC_ACT 0
-param set RTL_RETURN_ALT 30.0
+param set COM_OF_LOSS_T 5
-param set RTL_DESCEND_ALT 5.0
+param set COM_RC_IN_MODE 1
-param set RTL_LAND_DELAY 5
+param set EKF2_AID_MASK 1
-param set MIS_TAKEOFF_ALT 2.5
+param set EKF2_ANGERR_INIT 0.01
-param set MC_ROLLRATE_P 0.2
+param set EKF2_GBIAS_INIT 0.01
-param set MC_PITCHRATE_P 0.2
+param set EKF2_HGT_MODE 0
+param set EKF2_MAG_TYPE 1
+param set MAV_TYPE 2
 param set MC_PITCH_P 6
+param set MC_PITCHRATE_P 0.2
 param set MC_ROLL_P 6
+param set MC_ROLLRATE_P 0.2
+param set MIS_TAKEOFF_ALT 2.5
 param set MPC_HOLD_MAX_Z 2.0
 param set MPC_HOLD_XY_DZ 0.1
-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 MPC_Z_VEL_P 0.6
-param set EKF2_ANGERR_INIT 0.01
+param set NAV_ACC_RAD 2.0
-param set EKF2_MAG_TYPE 1
+param set NAV_DLL_ACT 2
+param set RTL_DESCEND_ALT 5.0
+param set RTL_LAND_DELAY 5
+param set RTL_RETURN_ALT 30.0
+param set SENS_BOARD_ROT 0
+param set SENS_BOARD_X_OFF 0.000001
+param set SYS_AUTOSTART 4010
+param set SYS_MC_EST_GROUP 2
+param set SYS_RESTART_TYPE 2
 replay tryapplyparams
 simulator start -s -u _SIMPORT_
 tone_alarm start

posix-configs/SITL/init/ekf2/plane

@@ -2,39 +2,41 @@ uorb start
 param load
 param set MAV_TYPE 1
 param set SYS_AUTOSTART 3033
-param set SYS_RESTART_TYPE 2
 param set SYS_MC_EST_GROUP 2
+param set SYS_RESTART_TYPE 2
 dataman start
 param set BAT_N_CELLS 3
-param set CAL_GYRO0_ID 2293768
 param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set CAL_GYRO0_XOFF 0.01
 param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_ZOFF 0.01
 param set CAL_ACC0_XSCALE 1.01
+param set CAL_ACC0_YOFF -0.01
 param set CAL_ACC0_YSCALE 1.01
+param set CAL_ACC0_ZOFF 0.01
 param set CAL_ACC0_ZSCALE 1.01
+param set CAL_ACC1_ID 1310728
 param set CAL_ACC1_XOFF 0.01
+param set CAL_GYRO0_ID 2293768
+param set CAL_GYRO0_XOFF 0.01
+param set CAL_MAG0_ID 196616
 param set CAL_MAG0_XOFF 0.01
-param set SENS_BOARD_ROT 0
-param set SENS_DPRES_OFF 0.001
-param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
-param set NAV_ACC_RAD 15.0
-param set NAV_LOITER_RAD 50
 param set MIS_LTRMIN_ALT 30
 param set MIS_TAKEOFF_ALT 30
+param set NAV_ACC_RAD 15.0
+param set NAV_DLL_ACT 2
+param set NAV_LOITER_RAD 50
+param set SENS_BOARD_ROT 0
+param set SENS_BOARD_X_OFF 0.000001
+param set SENS_DPRES_OFF 0.001
 
-param set EKF2_GBIAS_INIT 0.01
+param set EKF2_AID_MASK 1
 param set EKF2_ANGERR_INIT 0.01
+param set EKF2_GBIAS_INIT 0.01
+param set EKF2_HGT_MODE 0
 param set EKF2_MAG_TYPE 1
 
-param set FW_THR_IDLE 0.15
 param set FW_LND_ANG 8
+param set FW_THR_IDLE 0.15
 
 param set FW_R_TC 0.7
 param set FW_RR_FF 0.20

posix-configs/SITL/init/ekf2/solo

@@ -1,45 +1,47 @@
 uorb start
 param load
-param set MAV_TYPE 2
-param set SYS_AUTOSTART 4010
-param set SYS_RESTART_TYPE 2
-param set SYS_MC_EST_GROUP 2
 dataman start
 param set BAT_N_CELLS 3
-param set CAL_GYRO0_ID 2293768
 param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set CAL_GYRO0_XOFF 0.01
 param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_ZOFF 0.01
 param set CAL_ACC0_XSCALE 1.01
+param set CAL_ACC0_YOFF -0.01
 param set CAL_ACC0_YSCALE 1.01
+param set CAL_ACC0_ZOFF 0.01
 param set CAL_ACC0_ZSCALE 1.01
+param set CAL_ACC1_ID 1310728
 param set CAL_ACC1_XOFF 0.01
+param set CAL_GYRO0_ID 2293768
+param set CAL_GYRO0_XOFF 0.01
+param set CAL_MAG0_ID 196616
 param set CAL_MAG0_XOFF 0.01
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
 param set COM_DISARM_LAND 3
-param set NAV_ACC_RAD 2.0
+param set COM_RC_IN_MODE 1
-param set RTL_RETURN_ALT 30.0
+param set EKF2_AID_MASK 1
-param set RTL_DESCEND_ALT 10.0
+param set EKF2_ANGERR_INIT 0.01
-param set RTL_LAND_DELAY 0
+param set EKF2_GBIAS_INIT 0.01
-param set MIS_TAKEOFF_ALT 2.5
+param set EKF2_HGT_MODE 0
-param set MC_ROLLRATE_P 0.15
+param set EKF2_MAG_TYPE 1
-param set MC_PITCHRATE_P 0.15
+param set MAV_TYPE 2
 param set MC_PITCH_P 6
+param set MC_PITCHRATE_P 0.15
 param set MC_ROLL_P 6
+param set MC_ROLLRATE_P 0.15
+param set MIS_TAKEOFF_ALT 2.5
 param set MPC_HOLD_MAX_Z 2.0
 param set MPC_HOLD_XY_DZ 0.1
-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 MPC_Z_VEL_P 0.6
-param set EKF2_ANGERR_INIT 0.01
+param set NAV_ACC_RAD 2.0
-param set EKF2_MAG_TYPE 1
+param set NAV_DLL_ACT 2
+param set RTL_DESCEND_ALT 10.0
+param set RTL_LAND_DELAY 0
+param set RTL_RETURN_ALT 30.0
+param set SENS_BOARD_ROT 0
+param set SENS_BOARD_X_OFF 0.000001
+param set SYS_AUTOSTART 4010
+param set SYS_MC_EST_GROUP 2
+param set SYS_RESTART_TYPE 2
 replay tryapplyparams
 simulator start -s
 tone_alarm start

posix-configs/SITL/init/ekf2/standard_vtol

@@ -1,62 +1,64 @@
 uorb start
 param load
-param set MAV_TYPE 22
-param set VT_TYPE 2
-param set VT_MOT_COUNT 4
-param set VT_TRANS_THR 0.75
-param set SYS_AUTOSTART 13006
-param set SYS_RESTART_TYPE 2
-param set SYS_MC_EST_GROUP 2
 dataman start
 param set BAT_N_CELLS 3
-param set CAL_GYRO0_ID 2293768
 param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set CAL_GYRO0_XOFF 0.01
 param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_ZOFF 0.01
 param set CAL_ACC0_XSCALE 1.01
+param set CAL_ACC0_YOFF -0.01
 param set CAL_ACC0_YSCALE 1.01
+param set CAL_ACC0_ZOFF 0.01
 param set CAL_ACC0_ZSCALE 1.01
+param set CAL_ACC1_ID 1310728
 param set CAL_ACC1_XOFF 0.01
+param set CAL_GYRO0_ID 2293768
+param set CAL_GYRO0_XOFF 0.01
+param set CAL_MAG0_ID 196616
 param set CAL_MAG0_XOFF 0.01
-param set MC_ROLLRATE_P 0.3
+param set COM_DISARM_LAND 5
-param set MC_PITCHRATE_P 0.2
+param set COM_RC_IN_MODE 1
-param set MC_PITCH_P 6
+param set EKF2_AID_MASK 1
-param set MC_ROLL_P 6
+param set EKF2_ANGERR_INIT 0.01
-param set MPC_XY_P 0.8
+param set EKF2_GBIAS_INIT 0.01
-param set MPC_ACC_HOR_MAX 2.0
+param set EKF2_HGT_MODE 0
-param set MPC_XY_VEL_P 0.15
+param set EKF2_MAG_TYPE 1
-param set MPC_XY_VEL_I 0.2
+param set FW_AIRSPD_MAX 25
-param set MPC_XY_VEL_D 0.005
-param set MPC_XY_FF 0.1
-param set MPC_Z_VEL_MAX 1.5
-param set MPC_Z_VEL_P 0.6
-param set MPC_Z_VEL_I 0.15
 param set FW_AIRSPD_MIN 14
 param set FW_AIRSPD_TRIM 16
-param set FW_AIRSPD_MAX 25
+param set MAV_TYPE 22
-param set SENS_BOARD_ROT 0
+param set MC_PITCH_P 6
-param set SENS_DPRES_OFF 0.001
+param set MC_PITCHRATE_P 0.2
-param set SENS_BOARD_X_OFF 0.000001
+param set MC_ROLL_P 6
-param set COM_RC_IN_MODE 1
+param set MC_ROLLRATE_P 0.3
-param set NAV_DLL_ACT 2
-param set NAV_ACC_RAD 5.0
-param set NAV_LOITER_RAD 80
-param set MPC_TKO_SPEED 1.0
 param set MIS_LTRMIN_ALT 10
 param set MIS_TAKEOFF_ALT 10
 param set MIS_YAW_TMT 10
-param set RTL_RETURN_ALT 30.0
+param set MPC_ACC_HOR_MAX 2
+param set MPC_ACC_HOR_MAX 2.0
+param set MPC_TKO_SPEED 1.0
+param set MPC_XY_FF 0.1
+param set MPC_XY_P 0.8
+param set MPC_XY_VEL_D 0.005
+param set MPC_XY_VEL_I 0.2
+param set MPC_XY_VEL_P 0.15
+param set MPC_Z_VEL_I 0.15
+param set MPC_Z_VEL_MAX 1.5
+param set MPC_Z_VEL_P 0.6
+param set NAV_ACC_RAD 5.0
+param set NAV_DLL_ACT 2
+param set NAV_LOITER_RAD 80
 param set RTL_DESCEND_ALT 10.0
 param set RTL_LAND_DELAY 0
-param set COM_DISARM_LAND 5
+param set RTL_RETURN_ALT 30.0
-param set MPC_ACC_HOR_MAX 2
+param set SENS_BOARD_ROT 0
-param set EKF2_GBIAS_INIT 0.01
+param set SENS_BOARD_X_OFF 0.000001
-param set EKF2_ANGERR_INIT 0.01
+param set SENS_DPRES_OFF 0.001
-param set EKF2_MAG_TYPE 1
+param set SYS_AUTOSTART 13006
+param set SYS_MC_EST_GROUP 2
+param set SYS_RESTART_TYPE 2
+param set VT_MOT_COUNT 4
+param set VT_TRANS_THR 0.75
+param set VT_TYPE 2
 replay tryapplyparams
 simulator start -s
 tone_alarm start

posix-configs/SITL/init/ekf2/tailsitter

@@ -1,44 +1,46 @@
 uorb start
 param load
-param set MAV_TYPE 20
-param set VT_TYPE 0
-param set SYS_AUTOSTART 4010
-param set SYS_RESTART_TYPE 2
-param set SYS_MC_EST_GROUP 2
 dataman start
 param set BAT_N_CELLS 3
-param set CAL_GYRO0_ID 2293768
 param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set CAL_GYRO0_XOFF 0.01
 param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_ZOFF 0.01
 param set CAL_ACC0_XSCALE 1.01
+param set CAL_ACC0_YOFF -0.01
 param set CAL_ACC0_YSCALE 1.01
+param set CAL_ACC0_ZOFF 0.01
 param set CAL_ACC0_ZSCALE 1.01
+param set CAL_ACC1_ID 1310728
 param set CAL_ACC1_XOFF 0.01
+param set CAL_GYRO0_ID 2293768
+param set CAL_GYRO0_XOFF 0.01
+param set CAL_MAG0_ID 196616
 param set CAL_MAG0_XOFF 0.01
-param set MC_ROLLRATE_P 0.2
+param set COM_RC_IN_MODE 1
-param set MC_PITCHRATE_P 0.2
+param set EKF2_AID_MASK 1
+param set EKF2_ANGERR_INIT 0.01
+param set EKF2_GBIAS_INIT 0.01
+param set EKF2_HGT_MODE 0
+param set EKF2_MAG_TYPE 1
+param set MAV_TYPE 20
 param set MC_PITCH_P 6
+param set MC_PITCHRATE_P 0.2
 param set MC_ROLL_P 6
-param set MPC_XY_P 0.15
+param set MC_ROLLRATE_P 0.2
-param set MPC_XY_VEL_P 0.05
-param set MPC_XY_VEL_D 0.005
 param set MPC_XY_FF 0.1
+param set MPC_XY_P 0.15
+param set MPC_XY_VEL_D 0.005
+param set MPC_XY_VEL_P 0.05
+param set MPC_Z_VEL_I 0.15
 param set MPC_Z_VEL_MAX 1.0
 param set MPC_Z_VEL_P 0.8
-param set MPC_Z_VEL_I 0.15
-param set SENS_BOARD_ROT 0
-param set SENS_DPRES_OFF 0.001
-param set SENS_BOARD_X_OFF 0.000001
-param set COM_RC_IN_MODE 1
 param set NAV_DLL_ACT 2
-param set EKF2_GBIAS_INIT 0.01
+param set SENS_BOARD_ROT 0
-param set EKF2_ANGERR_INIT 0.01
+param set SENS_BOARD_X_OFF 0.000001
-param set EKF2_MAG_TYPE 1
+param set SENS_DPRES_OFF 0.001
+param set SYS_AUTOSTART 4010
+param set SYS_MC_EST_GROUP 2
+param set SYS_RESTART_TYPE 2
+param set VT_TYPE 0
 replay tryapplyparams
 simulator start -s
 tone_alarm start

posix-configs/SITL/init/ekf2/typhoon_h480

@@ -1,47 +1,49 @@
 uorb start
 param load
-param set MAV_TYPE 13
-param set SYS_AUTOSTART 6001
-param set SYS_RESTART_TYPE 2
-param set SYS_MC_EST_GROUP 2
 dataman start
 param set BAT_N_CELLS 3
-param set CAL_GYRO0_ID 2293768
 param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set CAL_GYRO0_XOFF 0.001
 param set CAL_ACC0_XOFF 0.001
-param set CAL_ACC0_YOFF -0.001
-param set CAL_ACC0_ZOFF 0.001
 param set CAL_ACC0_XSCALE 1.0001
+param set CAL_ACC0_YOFF -0.001
 param set CAL_ACC0_YSCALE 1.0001
+param set CAL_ACC0_ZOFF 0.001
 param set CAL_ACC0_ZSCALE 1.0001
+param set CAL_ACC1_ID 1310728
 param set CAL_ACC1_XOFF 0.001
+param set CAL_GYRO0_ID 2293768
+param set CAL_GYRO0_XOFF 0.001
+param set CAL_MAG0_ID 196616
 param set CAL_MAG0_XOFF 0.001
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
 param set COM_DISARM_LAND 3
-param set NAV_ACC_RAD 2.0
+param set COM_RC_IN_MODE 1
-param set RTL_RETURN_ALT 30.0
+param set EKF2_AID_MASK 1
-param set RTL_DESCEND_ALT 10.0
+param set EKF2_ANGERR_INIT 0.01
-param set RTL_LAND_DELAY 0
+param set EKF2_GBIAS_INIT 0.01
-param set MIS_TAKEOFF_ALT 2.5
+param set EKF2_HGT_MODE 0
-param set MC_ROLLRATE_P 0.1
+param set EKF2_MAG_TYPE 1
-param set MC_PITCHRATE_P 0.1
+param set MAV_TYPE 13
 param set MC_PITCH_P 6
+param set MC_PITCHRATE_P 0.1
 param set MC_ROLL_P 6
+param set MC_ROLLRATE_P 0.1
+param set MIS_TAKEOFF_ALT 2.5
 param set MPC_HOLD_MAX_Z 2.0
 param set MPC_HOLD_XY_DZ 0.1
-param set MPC_Z_VEL_P 0.6
-param set MPC_Z_VEL_I 0.15
-param set MPC_XY_VEL_P 0.15
 param set MPC_XY_VEL_I 0.2
-param set EKF2_GBIAS_INIT 0.01
+param set MPC_XY_VEL_P 0.15
-param set EKF2_ANGERR_INIT 0.01
+param set MPC_Z_VEL_I 0.15
-param set EKF2_MAG_TYPE 1
+param set MPC_Z_VEL_P 0.6
+param set NAV_ACC_RAD 2.0
+param set NAV_DLL_ACT 2
+param set RTL_DESCEND_ALT 10.0
+param set RTL_LAND_DELAY 0
+param set RTL_RETURN_ALT 30.0
+param set SENS_BOARD_ROT 0
+param set SENS_BOARD_X_OFF 0.000001
+param set SYS_AUTOSTART 6001
+param set SYS_MC_EST_GROUP 2
+param set SYS_RESTART_TYPE 2
 replay tryapplyparams
 simulator start -s
 tone_alarm start