From 3a737097ee8204910b309c268e21333bb4b4efca Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Thu, 9 Mar 2017 11:13:33 +0100 Subject: [PATCH] rpi px4.config: switch to ekf2 --- posix-configs/rpi/px4.config | 7 ++----- posix-configs/rpi/px4_fw.config | 1 + 2 files changed, 3 insertions(+), 5 deletions(-) diff --git a/posix-configs/rpi/px4.config b/posix-configs/rpi/px4.config index 3445dd6d47..ff2ecceb5e 100644 --- a/posix-configs/rpi/px4.config +++ b/posix-configs/rpi/px4.config @@ -2,9 +2,8 @@ uorb start param load param set SYS_AUTOSTART 4001 param set MAV_BROADCAST 1 -sleep 1 param set MAV_TYPE 2 -param set SYS_MC_EST_GROUP 0 +param set SYS_MC_EST_GROUP 2 df_lsm9ds1_wrapper start -R 4 #df_mpu9250_wrapper start -R 10 #df_hmc5883_wrapper start @@ -13,13 +12,11 @@ gps start -d /dev/spidev0.0 -i spi -p ubx sensors start commander start navigator start -attitude_estimator_q start -position_estimator_inav start +ekf2 start land_detector start multicopter mc_pos_control start mc_att_control start mavlink start -u 14556 -r 1000000 -sleep 1 mavlink stream -u 14556 -s HIGHRES_IMU -r 50 mavlink stream -u 14556 -s ATTITUDE -r 50 mavlink start -d /dev/ttyUSB0 diff --git a/posix-configs/rpi/px4_fw.config b/posix-configs/rpi/px4_fw.config index 8c66205247..972a2dcd3d 100644 --- a/posix-configs/rpi/px4_fw.config +++ b/posix-configs/rpi/px4_fw.config @@ -3,6 +3,7 @@ param load param set MAV_BROADCAST 1 #param set SYS_AUTOSTART 2104 param set MAV_TYPE 1 +param set SYS_MC_EST_GROUP 2 df_lsm9ds1_wrapper start -R 4 df_ms5611_wrapper start #navio_rgbled start