From 3ce4b40bcfad0d26b9fe53473daad08f9c6576fa Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 26 Jan 2022 18:08:45 +1100 Subject: [PATCH] ROMFS: Use single EKF for optical flow SITL test to enable replay --- .../init.d-posix/airframes/1010_iris_opt_flow | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow b/ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow index f3fe604155..c52ddfbdae 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow @@ -18,3 +18,10 @@ param set-default LPE_FAKE_ORIGIN 1 param set-default MPC_ALT_MODE 2 +param set-default MPC_ALT_MODE 2 + +# Multi-EKF (off by default) +param set-default EKF2_MULTI_IMU 0 +param set-default SENS_IMU_MODE 1 +param set-default EKF2_MULTI_MAG 0 +param set-default SENS_MAG_MODE 1