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lpe : default fusion flags for GPS-only use

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Mohammed Kabir 2017-03-25 10:22:27 +05:30 committed by Lorenz Meier
parent de6302c418
commit 679b59b8d4
3 changed files with 8 additions and 7 deletions
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4
posix-configs/SITL/init/lpe/iris
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@ -41,8 +41,8 @@ param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_I 0.15
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set LPE_FUSION 247
# 11110111 no vis yaw (1 << 3)
# GPS only mode
param set LPE_FUSION 145
replay tryapplyparams
simulator start -s

5
posix-configs/SITL/init/lpe/iris_opt_flow
View File

@ -59,8 +59,9 @@ param set MPC_XY_P 0.5
param set MIS_TAKEOFF_ALT 2
param set NAV_ACC_RAD 1.0
param set CBRK_GPSFAIL 240024
param set LPE_FUSION 246
# 11110110 no vis yaw (1 << 3) and no gps (1 << 0)
# Flow-only mode
param set LPE_FUSION 242
param set FAKE_ORIGIN 1
replay tryapplyparams
simulator start -s

6
src/modules/local_position_estimator/params.c
View File

@ -345,7 +345,7 @@ PARAM_DEFINE_FLOAT(LPE_FGYRO_HP, 0.001f);
* @min 0
* @max 1
*/
PARAM_DEFINE_INT32(LPE_FAKE_ORIGIN, 1);
PARAM_DEFINE_INT32(LPE_FAKE_ORIGIN, 0);
/**
* Local origin latitude for nav w/o GPS
@ -437,7 +437,7 @@ PARAM_DEFINE_FLOAT(LPE_LAND_VXY, 0.05f);
* 6 : Set to true to enable flow gyro compensation
* 7 : Set to true to enable baro fusion
*
* default (247, no vision yaw)
* default (145 - GPS only)
*
* @group Local Position Estimator
* @min 0
@ -451,4 +451,4 @@ PARAM_DEFINE_FLOAT(LPE_LAND_VXY, 0.05f);
* @bit 6 flow gyro compensation
* @bit 7 fuse baro
*/
PARAM_DEFINE_INT32(LPE_FUSION, 247);
PARAM_DEFINE_INT32(LPE_FUSION, 145);