From 6833c7e31189ddd5c95c310cbb6edea94d71cdf5 Mon Sep 17 00:00:00 2001 From: bresch Date: Fri, 29 Jul 2022 15:24:37 +0200 Subject: [PATCH] ekf2: adjust ekf2 aid parameters in configs --- ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow | 1 + ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision | 1 + .../init.d-posix/airframes/1017_iris_opt_flow_mockup | 1 + .../init.d-posix/airframes/1018_iris_vision_velocity | 1 + ROMFS/px4fmu_common/init.d/airframes/4071_ifo | 2 +- ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s | 2 +- ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie | 3 ++- ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 | 1 + ROMFS/px4fmu_common/init.d/airframes/6002_draco_r | 2 +- test/mavsdk_tests/autopilot_tester.cpp | 4 ++-- 10 files changed, 12 insertions(+), 6 deletions(-) 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 6003d04d16..9368c82a4c 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 @@ -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 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision b/ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision index d0b8a5d07a..b2f1078cd1 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision @@ -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 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup b/ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup index d2c0dcf4cb..65d2e7eeef 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup @@ -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 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity b/ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity index f96412d622..50ecef1130 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity @@ -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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo index 65f6a5a672..a1b816a5b6 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo +++ b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo @@ -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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s index 4b743d6f0f..e8af6e7840 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s +++ b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s @@ -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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie index 3c355e40d8..457dd934ab 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie +++ b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie @@ -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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 index 03987999c9..357a0e4eac 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 +++ b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 @@ -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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r index 445358c5b3..da3cf3571d 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r +++ b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r @@ -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 diff --git a/test/mavsdk_tests/autopilot_tester.cpp b/test/mavsdk_tests/autopilot_tester.cpp index d7831dc79d..504165804b 100644 --- a/test/mavsdk_tests/autopilot_tester.cpp +++ b/test/mavsdk_tests/autopilot_tester.cpp @@ -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); } }