From 66ffc834d3cd93870ff6a268cfbd08491517058d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Mon, 7 Nov 2016 15:10:03 +0100 Subject: [PATCH] startup scripts: remove INAV, start LPE if INAV selected --- ROMFS/px4fmu_common/init.d/rc.mc_apps | 7 ++++--- ROMFS/px4fmu_common/init.d/rc.vtol_apps | 7 ++++--- src/modules/systemlib/system_params.c | 3 +-- 3 files changed, 9 insertions(+), 8 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_apps b/ROMFS/px4fmu_common/init.d/rc.mc_apps index 399f4398ac..d8baf4b866 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_apps +++ b/ROMFS/px4fmu_common/init.d/rc.mc_apps @@ -8,11 +8,12 @@ #--------------------------------------- # Estimator group selction # -# INAV +# INAV (deprecated) if param compare SYS_MC_EST_GROUP 0 then - attitude_estimator_q start - position_estimator_inav start + echo "ERROR [init] Estimator INAV deprecated. Using LPE" + param set SYS_MC_EST_GROUP 1 + param save fi # LPE diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_apps b/ROMFS/px4fmu_common/init.d/rc.vtol_apps index c3d54fd299..51cfb90b44 100644 --- a/ROMFS/px4fmu_common/init.d/rc.vtol_apps +++ b/ROMFS/px4fmu_common/init.d/rc.vtol_apps @@ -9,11 +9,12 @@ #--------------------------------------- # Estimator group selction # -# INAV +# INAV (deprecated) if param compare SYS_MC_EST_GROUP 0 then - attitude_estimator_q start - position_estimator_inav start + echo "ERROR [init] Estimator INAV deprecated. Using LPE" + param set SYS_MC_EST_GROUP 1 + param save fi # LPE diff --git a/src/modules/systemlib/system_params.c b/src/modules/systemlib/system_params.c index dc308bd9a2..06b3c76db6 100644 --- a/src/modules/systemlib/system_params.c +++ b/src/modules/systemlib/system_params.c @@ -95,11 +95,10 @@ PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2); * * Set the group of estimators used for multicopters and vtols * - * @value 0 position_estimator_inav, attitude_estimator_q * @value 1 local_position_estimator, attitude_estimator_q * @value 2 ekf2 * - * @min 0 + * @min 1 * @max 2 * @reboot_required true * @group System