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ekf2: adjust ekf2 aid parameters in configs

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bresch 2022-07-29 15:24:37 +02:00 committed by Daniel Agar
parent 8962cf2d25
commit 6833c7e311
10 changed files with 12 additions and 6 deletions
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1
ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow
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@ -9,6 +9,7 @@
# EKF2
param set-default EKF2_AID_MASK 2
param set-default EKF2_GPS_CTRL 0
param set-default EKF2_EVP_NOISE 0.05
param set-default EKF2_EVA_NOISE 0.05

1
ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision
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@ -10,6 +10,7 @@
# EKF2: Vision position and heading
param set-default EKF2_AID_MASK 24
param set-default EKF2_EV_DELAY 5
param set-default EKF2_GPS_CTRL 0
# LPE: Vision + baro
param set-default LPE_FUSION 132

1
ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup
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@ -9,6 +9,7 @@
# EKF2
param set-default EKF2_AID_MASK 2
param set-default EKF2_GPS_CTRL 0
# LPE: Flow-only mode
param set-default LPE_FUSION 242

1
ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity
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@ -10,3 +10,4 @@
# EKF2: Vision velocity and heading
param set-default EKF2_AID_MASK 272
param set-default EKF2_EV_DELAY 5
param set-default EKF2_GPS_CTRL 0

2
ROMFS/px4fmu_common/init.d/airframes/4071_ifo
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@ -38,7 +38,7 @@ param set-default SENS_BOARD_ROT 10
# EKF2
param set-default EKF2_GND_EFF_DZ 6
param set-default EKF2_HGT_MODE 1
param set-default EKF2_HGT_REF 1
# Position control
param set-default MPC_Z_P 1

2
ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
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@ -42,7 +42,7 @@ param set-default SENS_EN_BATT 1
# EKF2
param set-default EKF2_AID_MASK 3
param set-default EKF2_GND_EFF_DZ 6
param set-default EKF2_HGT_MODE 1
param set-default EKF2_HGT_REF 1
param set-default EKF2_MIN_RNG 0.3
# Flow

3
ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
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@ -26,7 +26,8 @@ param set-default COM_RC_IN_MODE 1
param set-default EKF2_ABL_LIM 2
param set-default EKF2_AID_MASK 3
param set-default EKF2_HGT_MODE 2
param set-default EKF2_HGT_REF 2
param set-default EKF2_RNG_CTRL 2
param set-default EKF2_MAG_TYPE 1
param set-default EKF2_OF_DELAY 10

1
ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
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@ -20,6 +20,7 @@
param set-default SYS_MC_EST_GROUP 2
param set-default SYS_HAS_MAG 0
param set-default EKF2_AID_MASK 2
param set-default EKF2_GPS_CTRL 0
param set-default EKF2_MAG_TYPE 5
param set-default BAT1_N_CELLS 1

2
ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
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@ -71,7 +71,7 @@ param set-default MIS_TAKEOFF_ALT 1.1
# EKF
#####################################
# Height mode as GPS
param set-default EKF2_HGT_MODE 1
param set-default EKF2_HGT_REF 1
# Enable optical flow and GPS
param set-default EKF2_MAG_TYPE 1
param set-default EKF2_OF_QMIN 80

4
test/mavsdk_tests/autopilot_tester.cpp
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@ -144,11 +144,11 @@ void AutopilotTester::set_height_source(AutopilotTester::HeightSource height_sou
{
switch (height_source) {
case HeightSource::Baro:
CHECK(_param->set_param_int("EKF2_HGT_MODE", 0) == Param::Result::Success);
CHECK(_param->set_param_int("EKF2_HGT_REF", 0) == Param::Result::Success);
break;
case HeightSource::Gps:
CHECK(_param->set_param_int("EKF2_HGT_MODE", 1) == Param::Result::Success);
CHECK(_param->set_param_int("EKF2_HGT_REF", 1) == Param::Result::Success);
}
}