From 6ddffb71ea6e187c1e172ce46943ebf16065208f Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Tue, 17 May 2016 09:14:59 -0400 Subject: [PATCH] SITL init: set EKF2 params for SITL The sensors in the SITL environment are near ideal, so the initialization in ekf2 can happen quicker. --- posix-configs/SITL/init/rcS_gazebo_iris | 2 ++ posix-configs/SITL/init/rcS_jmavsim_iris | 2 ++ 2 files changed, 4 insertions(+) diff --git a/posix-configs/SITL/init/rcS_gazebo_iris b/posix-configs/SITL/init/rcS_gazebo_iris index dd27b3f4c2..650c7212f4 100644 --- a/posix-configs/SITL/init/rcS_gazebo_iris +++ b/posix-configs/SITL/init/rcS_gazebo_iris @@ -33,6 +33,8 @@ param set MC_PITCH_P 5 param set MC_ROLL_P 5 param set MPC_Z_VEL_P 0.8 param set MPC_Z_VEL_I 0.15 +param set EKF2_GBIAS_INIT 0.01 +param set EKF2_ANGERR_INIT 0.01 simulator start -s rgbledsim start tone_alarm start diff --git a/posix-configs/SITL/init/rcS_jmavsim_iris b/posix-configs/SITL/init/rcS_jmavsim_iris index ab0e045afc..3f13970349 100644 --- a/posix-configs/SITL/init/rcS_jmavsim_iris +++ b/posix-configs/SITL/init/rcS_jmavsim_iris @@ -40,6 +40,8 @@ param set MPC_HOLD_MAX_Z 2.0 param set MPC_HOLD_XY_DZ 0.1 param set MPC_Z_VEL_MAX 2.0 param set MPC_Z_VEL_P 0.4 +param set EKF2_GBIAS_INIT 0.01 +param set EKF2_ANGERR_INIT 0.01 simulator start -s rgbledsim start tone_alarm start