From 61eb53dc75013ed890db1e683750e8ef6842685a Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Mon, 14 Aug 2023 15:30:14 +1200 Subject: [PATCH] kakuteh7: use EKF2 by default Signed-off-by: Julian Oes --- boards/holybro/kakuteh7/init/rc.board_defaults | 9 +++------ 1 file changed, 3 insertions(+), 6 deletions(-) diff --git a/boards/holybro/kakuteh7/init/rc.board_defaults b/boards/holybro/kakuteh7/init/rc.board_defaults index fa014c6b48..47dea71be6 100644 --- a/boards/holybro/kakuteh7/init/rc.board_defaults +++ b/boards/holybro/kakuteh7/init/rc.board_defaults @@ -22,13 +22,10 @@ param set-default CBRK_SUPPLY_CHK 894281 # Select the Generic 250 Racer by default param set-default SYS_AUTOSTART 4050 -# use the Q attitude estimator, it works w/o mag or GPS. -param set-default SYS_MC_EST_GROUP 3 -param set-default ATT_ACC_COMP 0 -param set-default ATT_W_ACC 0.4000 -param set-default ATT_W_GYRO_BIAS 0.0000 - +# use EKF2 without mag 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 param set-default CBRK_BUZZER 782090