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Flow mockup (#14054)

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* Add optical flow mockup model

* Update Tools.sitl_gazebo
This commit is contained in:
kritz 2020-01-29 14:06:46 +01:00 committed by GitHub
parent 00728dab18
commit 92e75452f5
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 23 additions and 2 deletions
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21
ROMFS/px4fmu_common/init.d-posix/1017_iris_opt_flow_mockup Normal file
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@ -0,0 +1,21 @@
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (Optical Flow)
#
# @type Quadrotor Wide
#
sh /etc/init.d-posix/10016_iris
if [ $AUTOCNF = yes ]
then
# EKF2
param set EKF2_AID_MASK 2
param set SENS_FLOW_ROT 0
# LPE: Flow-only mode
param set LPE_FUSION 242
param set LPE_FAKE_ORIGIN 1
param set MPC_ALT_MODE 2
fi

2
Tools/sitl_gazebo

@ -1 +1 @@
Subproject commit 3d152f028bbe47229602a1a34a2e8fe322504357
Subproject commit 029722989e945f0a78d5a2322788b34a3ca99ab6

2
platforms/posix/cmake/sitl_target.cmake
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@ -61,7 +61,7 @@ ExternalProject_Add(mavsdk_tests
set(viewers none jmavsim gazebo)
set(debuggers none ide gdb lldb ddd valgrind callgrind)
set(models none shell
if750a iris iris_opt_flow iris_vision iris_rplidar iris_irlock iris_obs_avoid iris_rtps solo typhoon_h480
if750a iris iris_opt_flow iris_opt_flow_mockup iris_vision iris_rplidar iris_irlock iris_obs_avoid iris_rtps solo typhoon_h480
plane
standard_vtol tailsitter tiltrotor
hippocampus rover)