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SYS_MC_EST_GROUP mark LPE unsupported and update airframes (#11925)

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This commit is contained in:
Daniel Agar
2019-04-29 11:50:36 -04:00
committed by GitHub
parent 2142459027
commit f032d0d9fc
17 changed files with 20 additions and 74 deletions
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ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
-1
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@@ -56,7 +56,6 @@ then
param set RTL_RETURN_ALT 30 param set RTL_RETURN_ALT 30
param set SDLOG_DIRS_MAX 7 param set SDLOG_DIRS_MAX 7
param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2 param set SYS_RESTART_TYPE 2
param set VT_F_TRANS_THR 0.75 param set VT_F_TRANS_THR 0.75
ROMFS/px4fmu_common/init.d/rc.fw_apps
-8
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@@ -5,14 +5,6 @@
# NOTE: Script variables are declared/initialized/unset in the rcS script. # NOTE: Script variables are declared/initialized/unset in the rcS script.
# #
# LPE
if param compare SYS_MC_EST_GROUP 1
then
echo "ERROR [init] Estimator LPE not supported on fixed wing. Using EKF2"
param set SYS_MC_EST_GROUP 2
param save
fi
# #
# Start the attitude and position estimator. # Start the attitude and position estimator.
# #
ROMFS/px4fmu_common/init.d/rc.mc_apps
+8 -17
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@@ -9,16 +9,6 @@
# Begin Estimator Group Selection # # Begin Estimator Group Selection #
############################################################################### ###############################################################################
#
# INAV (deprecated).
#
if param compare SYS_MC_EST_GROUP 0
then
echo "ERROR [init] Estimator INAV deprecated. Using EKF2"
param set SYS_MC_EST_GROUP 2
param save
fi
# #
# LPE # LPE
# #
@@ -30,21 +20,22 @@ then
# #
if attitude_estimator_q start if attitude_estimator_q start
then then
echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
local_position_estimator start local_position_estimator start
else else
echo "ERROR [init] Estimator LPE not available. Using EKF2" echo "ERROR [init] Estimator LPE not available. Using EKF2"
param set SYS_MC_EST_GROUP 2 param set SYS_MC_EST_GROUP 2
param save param save
reboot
fi fi
fi else
#
# # EKF2
# EKF2 #
# param set SYS_MC_EST_GROUP 2
if param compare SYS_MC_EST_GROUP 2
then
ekf2 start ekf2 start
fi fi
############################################################################### ###############################################################################
# End Estimator Group Selection # # End Estimator Group Selection #
############################################################################### ###############################################################################
ROMFS/px4fmu_common/init.d/rc.vtol_apps
+1 -28
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@@ -9,34 +9,7 @@
# Begin Estimator group selection # # Begin Estimator group selection #
############################################################################### ###############################################################################
# INAV (deprecated) ekf2 start
if param compare SYS_MC_EST_GROUP 0
then
echo "ERROR [init] Estimator INAV deprecated. Using EKF2"
param set SYS_MC_EST_GROUP 2
param save
fi
# LPE
if param compare SYS_MC_EST_GROUP 1
then
# Try to start LPE. If it fails, start EKF2 as a default
# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
if attitude_estimator_q start
then
local_position_estimator start
else
echo "ERROR [init] Estimator LPE not available. Using EKF2"
param set SYS_MC_EST_GROUP 2
param save
fi
fi
# EKF
if param compare SYS_MC_EST_GROUP 2
then
ekf2 start
fi
############################################################################### ###############################################################################
# End Estimator group selection # # End Estimator group selection #
posix-configs/bbblue/px4.config
-3
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@@ -33,9 +33,6 @@ param set MAV_BROADCAST 1
# MAV_TYPE: 1 Fixed wing aircraft, 2 Quadrotor # MAV_TYPE: 1 Fixed wing aircraft, 2 Quadrotor
param set MAV_TYPE 2 param set MAV_TYPE 2
# Set multicopter estimator group, 1 local_position_estimator, attitude_estimator_q, 2 ekf2
param set SYS_MC_EST_GROUP 2
# Three possible main power battery sources for BBBlue: # Three possible main power battery sources for BBBlue:
# 1. onboard 2S LiPo battery connector, which is connect to ADC channel 6 # 1. onboard 2S LiPo battery connector, which is connect to ADC channel 6
# 2. onboard 9-18V DC Jack, which is connect to ADC channel 5. This is the board default. # 2. onboard 9-18V DC Jack, which is connect to ADC channel 5. This is the board default.
posix-configs/bbblue/px4_fw.config
-3
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@@ -33,9 +33,6 @@ param set MAV_BROADCAST 1
# MAV_TYPE: 1 Fixed wing aircraft, 2 Quadrotor # MAV_TYPE: 1 Fixed wing aircraft, 2 Quadrotor
param set MAV_TYPE 2 param set MAV_TYPE 2
# Set multicopter estimator group, 1 local_position_estimator, attitude_estimator_q, 2 ekf2
param set SYS_MC_EST_GROUP 2
# Three possible main power battery sources for BBBlue: # Three possible main power battery sources for BBBlue:
# 1. onboard 2S LiPo battery connector, which is connect to ADC channel 6 # 1. onboard 2S LiPo battery connector, which is connect to ADC channel 6
# 2. onboard 9-18V DC Jack, which is connect to ADC channel 5. This is the board default. # 2. onboard 9-18V DC Jack, which is connect to ADC channel 5. This is the board default.
posix-configs/bebop/px4.config
-2
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@@ -36,8 +36,6 @@ param set MC_PITCHRATE_I 0.8
param set MC_PITCHRATE_D 0.0 param set MC_PITCHRATE_D 0.0
param set MC_PR_INT_LIM 0.5 param set MC_PR_INT_LIM 0.5
param set SYS_MC_EST_GROUP 2
df_ms5607_wrapper start df_ms5607_wrapper start
df_mpu6050_wrapper start -R 8 df_mpu6050_wrapper start -R 8
df_ak8963_wrapper start -R 32 df_ak8963_wrapper start -R 32
posix-configs/eagle/200qx/px4.config
-1
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@@ -23,7 +23,6 @@ param set UART_ESC_MOTOR1 4
param set UART_ESC_MOTOR2 2 param set UART_ESC_MOTOR2 2
param set UART_ESC_MOTOR3 1 param set UART_ESC_MOTOR3 1
param set UART_ESC_MOTOR4 3 param set UART_ESC_MOTOR4 3
param set SYS_MC_EST_GROUP 2
sleep 1 sleep 1
df_mpu9250_wrapper start df_mpu9250_wrapper start
df_bmp280_wrapper start df_bmp280_wrapper start
posix-configs/eagle/210qc/px4.config
-1
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@@ -23,7 +23,6 @@ param set UART_ESC_MOTOR1 4
param set UART_ESC_MOTOR2 2 param set UART_ESC_MOTOR2 2
param set UART_ESC_MOTOR3 1 param set UART_ESC_MOTOR3 1
param set UART_ESC_MOTOR4 3 param set UART_ESC_MOTOR4 3
param set SYS_MC_EST_GROUP 2
sleep 1 sleep 1
df_mpu9250_wrapper start df_mpu9250_wrapper start
df_bmp280_wrapper start df_bmp280_wrapper start
posix-configs/eagle/flight/px4.config
-1
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@@ -1,7 +1,6 @@
uorb start uorb start
qshell start qshell start
param set SYS_AUTOSTART 4001 param set SYS_AUTOSTART 4001
param set SYS_MC_EST_GROUP 2
sleep 1 sleep 1
gps start -d /dev/tty-4 gps start -d /dev/tty-4
param set MAV_TYPE 2 param set MAV_TYPE 2
posix-configs/eagle/hil/px4.config
-1
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@@ -37,7 +37,6 @@ param set MC_ROLLRATE_P 0.03
param set ATT_W_ACC 0.0002 param set ATT_W_ACC 0.0002
param set ATT_W_MAG 0.002 param set ATT_W_MAG 0.002
param set ATT_W_GYRO_BIAS 0.05 param set ATT_W_GYRO_BIAS 0.05
param set SYS_MC_EST_GROUP 0
sleep 1 sleep 1
commander start -hil commander start -hil
sensors start sensors start
posix-configs/ocpoc/px4.config
-1
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@@ -14,7 +14,6 @@ param set SYS_AUTOSTART 4001
param set MAV_BROADCAST 1 param set MAV_BROADCAST 1
param set MAV_TYPE 2 param set MAV_TYPE 2
param set MAV_SYS_ID 1 param set MAV_SYS_ID 1
param set SYS_MC_EST_GROUP 2
df_mpu9250_wrapper start_without_mag -R 10 df_mpu9250_wrapper start_without_mag -R 10
df_hmc5883_wrapper start -D /dev/i2c-4 df_hmc5883_wrapper start -D /dev/i2c-4
posix-configs/rpi/px4.config
-1
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@@ -12,7 +12,6 @@ fi
param set SYS_AUTOSTART 4001 param set SYS_AUTOSTART 4001
param set MAV_BROADCAST 1 param set MAV_BROADCAST 1
param set MAV_TYPE 2 param set MAV_TYPE 2
param set SYS_MC_EST_GROUP 2
param set BAT_CNT_V_VOLT 0.001 param set BAT_CNT_V_VOLT 0.001
param set BAT_V_DIV 10.9176300578 param set BAT_V_DIV 10.9176300578
param set BAT_CNT_V_CURR 0.001 param set BAT_CNT_V_CURR 0.001
posix-configs/rpi/px4_fw.config
-1
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@@ -10,7 +10,6 @@ param load
param set MAV_BROADCAST 1 param set MAV_BROADCAST 1
param set SYS_AUTOSTART 2100 param set SYS_AUTOSTART 2100
param set MAV_TYPE 1 param set MAV_TYPE 1
param set SYS_MC_EST_GROUP 2
param set BAT_CNT_V_VOLT 0.001 param set BAT_CNT_V_VOLT 0.001
param set BAT_V_DIV 10.9176300578 param set BAT_V_DIV 10.9176300578
posix-configs/rpi/px4_hil.config
-1
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@@ -12,7 +12,6 @@ param load
param set SYS_AUTOSTART 1001 param set SYS_AUTOSTART 1001
param set MAV_BROADCAST 1 param set MAV_BROADCAST 1
param set MAV_TYPE 2 param set MAV_TYPE 2
param set SYS_MC_EST_GROUP 0
dataman start dataman start
sensors start -hil sensors start -hil
commander start -hil commander start -hil
src/lib/systemlib/system_params.c
+2 -2
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@@ -100,8 +100,8 @@ PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2);
* *
* Set the group of estimators used for multicopters and VTOLs * Set the group of estimators used for multicopters and VTOLs
* *
* @value 1 local_position_estimator, attitude_estimator_q * @value 1 local_position_estimator, attitude_estimator_q (unsupported)
* @value 2 ekf2 * @value 2 ekf2 (recommended)
* *
* @min 1 * @min 1
* @max 2 * @max 2
src/modules/commander/PreflightCheck.cpp
+9 -2
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@@ -925,8 +925,15 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
/* ---- Navigation EKF ---- */ /* ---- Navigation EKF ---- */
// only check EKF2 data if EKF2 is selected as the estimator and GNSS checking is enabled // only check EKF2 data if EKF2 is selected as the estimator and GNSS checking is enabled
int32_t estimator_type; int32_t estimator_type = -1;
param_get(param_find("SYS_MC_EST_GROUP"), &estimator_type);
if (status.is_rotary_wing && !status.is_vtol) {
param_get(param_find("SYS_MC_EST_GROUP"), &estimator_type);
} else {
// EKF2 is currently the only supported option for FW & VTOL
estimator_type = 2;
}
if (estimator_type == 2) { if (estimator_type == 2) {
// don't report ekf failures for the first 10 seconds to allow time for the filter to start // don't report ekf failures for the first 10 seconds to allow time for the filter to start