From 185e4cfd48749d5e10aa2d2e444743b2823e1445 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Thu, 9 Sep 2021 17:40:59 +0200 Subject: [PATCH] Mantis: set range finder limits, and min quality The limits might somewhat match the sensor, guessed based on the original driver. The quality is set so that spikes when sitting on the ground are not used. --- ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu | 3 +++ 1 file changed, 3 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu b/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu index 3b4e2203a6..8878da8c39 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu +++ b/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu @@ -68,6 +68,9 @@ param set-default EKF2_OF_GATE 2.0 param set-default EKF2_OF_POS_X -0.035 param set-default EKF2_OF_POS_Y 0.0 param set-default EKF2_OF_POS_Z 0.033 +param set-default EKF2_OF_MIN_RNG 0.01 +param set-default EKF2_OF_A_HMAX 7.0 +param set-default EKF2_OF_QMIN 30 param set-default EKF2_PCOEF_XN -0.3 param set-default EKF2_PCOEF_XP -0.4