From ed49ed39032d18ff9fa77c0a11fef347ed522055 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Wed, 8 Mar 2023 14:17:07 +1300 Subject: [PATCH] kakuteh7v2/mini: use EKF2 without mag by default This switches from attitude_estimator_q to EKF2 which should now work without mag when the params are set to SYS_HAS_MAG = 0 and EKF2_IMU_CTRL = 7 to enable gravity fusion. Signed-off-by: Julian Oes --- boards/holybro/kakuteh7mini/init/rc.board_defaults | 11 +++++------ boards/holybro/kakuteh7v2/init/rc.board_defaults | 11 +++++------ 2 files changed, 10 insertions(+), 12 deletions(-) diff --git a/boards/holybro/kakuteh7mini/init/rc.board_defaults b/boards/holybro/kakuteh7mini/init/rc.board_defaults index e1c52182b5..45a123ca25 100644 --- a/boards/holybro/kakuteh7mini/init/rc.board_defaults +++ b/boards/holybro/kakuteh7mini/init/rc.board_defaults @@ -22,13 +22,12 @@ param set-default CBRK_SUPPLY_CHK 894281 # Select the Generic 250 Racer by default param set-default SYS_AUTOSTART 4050 -# use the Q attitude estimator, it works w/o mag or GPS. -param set-default SYS_MC_EST_GROUP 3 -param set-default ATT_ACC_COMP 0 -param set-default ATT_W_ACC 0.4000 -param set-default ATT_W_GYRO_BIAS 0.0000 - +# use EKF2 +param set-default SYS_MC_EST_GROUP 2 +# and set it without mag param set-default SYS_HAS_MAG 0 +# and enable gravity fusion +param set-default EKF2_IMU_CONTROL 7 # the startup tune is not great on a binary output buzzer, so disable it param set-default CBRK_BUZZER 782090 diff --git a/boards/holybro/kakuteh7v2/init/rc.board_defaults b/boards/holybro/kakuteh7v2/init/rc.board_defaults index 3e02f07f5c..b64618c839 100644 --- a/boards/holybro/kakuteh7v2/init/rc.board_defaults +++ b/boards/holybro/kakuteh7v2/init/rc.board_defaults @@ -22,13 +22,12 @@ param set-default CBRK_SUPPLY_CHK 894281 # Select the Generic 250 Racer by default param set-default SYS_AUTOSTART 4050 -# use the Q attitude estimator, it works w/o mag or GPS. -param set-default SYS_MC_EST_GROUP 3 -param set-default ATT_ACC_COMP 0 -param set-default ATT_W_ACC 0.4000 -param set-default ATT_W_GYRO_BIAS 0.0000 - +# use EKF2 +param set-default SYS_MC_EST_GROUP 2 +# and set it without mag param set-default SYS_HAS_MAG 0 +# and enable gravity fusion +param set-default EKF2_IMU_CONTROL 7 # the startup tune is not great on a binary output buzzer, so disable it param set-default CBRK_BUZZER 782090