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SYS_MC_EST_GROUP: add q estimator only option and activate on omnibus

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This commit is contained in:
Beat Küng
2019-06-06 09:33:48 +02:00
committed by Daniel Agar
parent 1321f96b59
commit 73102dc3c4
4 changed files with 22 additions and 7 deletions
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ROMFS/px4fmu_common/init.d-posix/rcS
+3 -1
View File
@@ -65,7 +65,9 @@ fi
# Use environment variable PX4_ESTIMATOR to choose estimator.
if [ "$PX4_ESTIMATOR" = "ekf2" ]; then
if [ "$PX4_ESTIMATOR" = "q" ]; then
param set SYS_MC_EST_GROUP 3
elif [ "$PX4_ESTIMATOR" = "ekf2" ]; then
param set SYS_MC_EST_GROUP 2
elif [ "$PX4_ESTIMATOR" = "lpe" ]; then
param set SYS_MC_EST_GROUP 1
ROMFS/px4fmu_common/init.d/rc.mc_apps
+11 -3
View File
@@ -30,10 +30,18 @@ then
fi
else
#
# EKF2
# Q estimator (attitude estimation only)
#
param set SYS_MC_EST_GROUP 2
ekf2 start
if param compare SYS_MC_EST_GROUP 3
then
attitude_estimator_q start
else
#
# EKF2
#
param set SYS_MC_EST_GROUP 2
ekf2 start
fi
fi
###############################################################################