From 75a528e0618d9f988e4a46b4179e48730ad0c9aa Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sat, 8 Jul 2017 17:47:58 -0400 Subject: [PATCH] FW EKF2 and ublox defaults - closes #7550 --- ROMFS/px4fmu_common/init.d/rc.fw_defaults | 15 ++++++++++++--- 1 file changed, 12 insertions(+), 3 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults index 9f2ee44323..de6421e522 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults @@ -4,9 +4,15 @@ set VEHICLE_TYPE fw if [ $AUTOCNF == yes ] then -# -# Default parameters for FW -# + # + # Default parameters for FW + # + + param set EKF2_ARSP_THR 8.0 + param set EKF2_FUSE_BETA 0 + param set EKF2_MAG_ACCLIM 0 + param set EKF2_MAG_YAWLIM 0 + param set RTL_RETURN_ALT 100 param set RTL_DESCEND_ALT 100 param set RTL_LAND_DELAY -1 @@ -19,6 +25,9 @@ then param set MIS_TAKEOFF_ALT 25 param set PWM_RATE 50 + + # FW takeoff acceleration can easily exceed ublox GPS 2G default + param set GPS_UBX_DYNMODEL 8 fi # This is the gimbal pass mixer