fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-25 02:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

delete SYS_MC_EST_GROUP

Browse Source 
- introduce per module parameters (EKF2_EN, LPE_EN, ATT_EN)
 - add basic checks to prevent EKF2 + LPE running simultaneously
This commit is contained in:
Daniel Agar
2024-04-15 16:06:08 -04:00
parent 1b1479a92b
commit 78bbb66568
29 changed files with 154 additions and 209 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/parameters/param_translation.cpp
+69
View File
@@ -73,5 +73,74 @@ param_modify_on_import_ret param_modify_on_import(bson_node_t node)
}
}
// 2024-04-15 SYS_MC_EST_GROUP removed
if ((node->type == bson_type_t::BSON_INT32) && (strcmp("SYS_MC_EST_GROUP", node->name) == 0)) {
int32_t value = node->i32;
// value 1 local_position_estimator, attitude_estimator_q (unsupported)
if (value == 1) {
// enable local_position_estimator
int32_t lpe_en_val = 1;
int lpe_en_ret = param_set(param_find("LPE_EN"), &lpe_en_val);
// enable attitude_estimator_q
int32_t att_en_val = 1;
int att_en_ret = param_set(param_find("ATT_EN"), &att_en_val);
// disable ekf2 (only if enabling lpe and att_w was successful)
if (lpe_en_ret == PX4_OK && att_en_ret == PX4_OK) {
int32_t ekf2_en_val = 0;
param_set(param_find("EKF2_EN"), &ekf2_en_val);
} else {
int32_t ekf2_en_val = 1;
param_set(param_find("EKF2_EN"), &ekf2_en_val);
}
return param_modify_on_import_ret::PARAM_MODIFIED;
}
// value 2 ekf2 (recommended)
if (value == 2) {
// disable local_position_estimator
int32_t lpe_en_val = 0;
param_set(param_find("LPE_EN"), &lpe_en_val);
// disable attitude_estimator_q
int32_t att_en_val = 0;
param_set(param_find("ATT_EN"), &att_en_val);
// enable ekf2
int32_t ekf2_en_val = 1;
param_set(param_find("EKF2_EN"), &ekf2_en_val);
return param_modify_on_import_ret::PARAM_MODIFIED;
}
// value 3 Q attitude estimator (no position)
if (value == 3) {
// disable local_position_estimator
int32_t lpe_en_val = 0;
param_set(param_find("LPE_EN"), &lpe_en_val);
// enable attitude_estimator_q
int32_t att_en_val = 1;
int att_en_ret = param_set(param_find("ATT_EN"), &att_en_val);
// disable ekf2 (only if enabling att_w was successful)
if (att_en_ret == PX4_OK) {
int32_t ekf2_en_val = 0;
param_set(param_find("EKF2_EN"), &ekf2_en_val);
} else {
int32_t ekf2_en_val = 1;
param_set(param_find("EKF2_EN"), &ekf2_en_val);
}
return param_modify_on_import_ret::PARAM_MODIFIED;
}
}
return param_modify_on_import_ret::PARAM_NOT_MODIFIED;
}
src/lib/systemlib/system_params.c
-14
View File
@@ -83,20 +83,6 @@ PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);
*/
PARAM_DEFINE_INT32(SYS_HITL, 0);
/**
* Set multicopter estimator group
*
* Set the group of estimators used for multicopters and VTOLs
*
* @value 1 local_position_estimator, attitude_estimator_q (unsupported)
* @value 2 ekf2 (recommended)
* @value 3 Q attitude estimator (no position)
*
* @reboot_required true
* @group System
*/
PARAM_DEFINE_INT32(SYS_MC_EST_GROUP, 2);
/**
* Enable auto start of rate gyro thermal calibration at the next power up.
*