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boards: holybro kakutef7 switch to ekf2

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This commit is contained in:
Daniel Agar 2023-08-31 15:48:13 -04:00
parent 10b54d08fc
commit 7589ee00e8
2 changed files with 15 additions and 6 deletions
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13
boards/holybro/kakutef7/default.px4board
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@ -17,11 +17,19 @@ CONFIG_DRIVERS_OSD_ATXXXX=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_DRIVERS_RC_INPUT=y
CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=y
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
CONFIG_MODULES_BATTERY_STATUS=y
CONFIG_MODULES_COMMANDER=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_DATAMAN=y
CONFIG_MODULES_EKF2=y
# CONFIG_EKF2_AUXVEL is not set
# CONFIG_EKF2_BARO_COMPENSATION is not set
# CONFIG_EKF2_DRAG_FUSION is not set
# CONFIG_EKF2_EXTERNAL_VISION is not set
# CONFIG_EKF2_GNSS_YAW is not set
# CONFIG_EKF2_MAGNETOMETER is not set
# CONFIG_EKF2_RANGE_FINDER is not set
# CONFIG_EKF2_SIDESLIP is not set
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_LAND_DETECTOR=y
CONFIG_MODULES_LOGGER=y
@ -33,6 +41,9 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
# CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
# CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW is not set
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_TOP=y

8
boards/holybro/kakutef7/init/rc.board_defaults
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@ -12,13 +12,11 @@ param set-default CBRK_SUPPLY_CHK 894281
# Select the Generic 250 Racer by default
param set-default SYS_AUTOSTART 4050
# use the Q attitude estimator, it works w/o mag or GPS.
param set-default SYS_MC_EST_GROUP 3
param set-default ATT_W_ACC 0.4
param set-default ATT_W_GYRO_BIAS 0
param set-default SYS_HAS_MAG 0
# enable gravity fusion
param set-default EKF2_IMU_CONTROL 7
# the startup tune is not great on a binary output buzzer, so disable it
param set-default CBRK_BUZZER 782090