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kakuteh7v2/mini: use EKF2 without mag by default

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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 <julian@oes.ch>
This commit is contained in:
Julian Oes
2023-03-08 14:17:07 +13:00
committed by Daniel Agar
parent 132e9d2439
commit ed49ed3903
2 changed files with 10 additions and 12 deletions
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boards/holybro/kakuteh7mini/init/rc.board_defaults
+5 -6
View File
@@ -22,13 +22,12 @@ param set-default CBRK_SUPPLY_CHK 894281
# Select the Generic 250 Racer by default # Select the Generic 250 Racer by default
param set-default SYS_AUTOSTART 4050 param set-default SYS_AUTOSTART 4050
# use the Q attitude estimator, it works w/o mag or GPS. # use EKF2
param set-default SYS_MC_EST_GROUP 3 param set-default SYS_MC_EST_GROUP 2
param set-default ATT_ACC_COMP 0 # and set it without mag
param set-default ATT_W_ACC 0.4000
param set-default ATT_W_GYRO_BIAS 0.0000
param set-default SYS_HAS_MAG 0 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 # the startup tune is not great on a binary output buzzer, so disable it
param set-default CBRK_BUZZER 782090 param set-default CBRK_BUZZER 782090
boards/holybro/kakuteh7v2/init/rc.board_defaults
+5 -6
View File
@@ -22,13 +22,12 @@ param set-default CBRK_SUPPLY_CHK 894281
# Select the Generic 250 Racer by default # Select the Generic 250 Racer by default
param set-default SYS_AUTOSTART 4050 param set-default SYS_AUTOSTART 4050
# use the Q attitude estimator, it works w/o mag or GPS. # use EKF2
param set-default SYS_MC_EST_GROUP 3 param set-default SYS_MC_EST_GROUP 2
param set-default ATT_ACC_COMP 0 # and set it without mag
param set-default ATT_W_ACC 0.4000
param set-default ATT_W_GYRO_BIAS 0.0000
param set-default SYS_HAS_MAG 0 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 # the startup tune is not great on a binary output buzzer, so disable it
param set-default CBRK_BUZZER 782090 param set-default CBRK_BUZZER 782090