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WIP: SENS_GNSS instance configuration and GPS blending updates

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- SENS_GNSSx_ID
 - SENS_GNSSx_{X,Y,Z}POS
This commit is contained in:
Daniel Agar
2022-03-25 15:04:31 -04:00
parent 7f2fea1cca
commit 93232f9ee7
58 changed files with 1275 additions and 300 deletions
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ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
+1 -1
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@@ -31,7 +31,7 @@ param set-default BAT1_R_INTERNAL 0.0025
param set-default CBRK_AIRSPD_CHK 162128
param set-default CBRK_IO_SAFETY 22027
param set-default EKF2_GPS_POS_X -0.12
param set-default SENS_GNSS0_XPOS -0.12
param set-default EKF2_IMU_POS_X -0.12
param set-default EKF2_TAU_VEL 0.5
param set-default EKF2_GPS_P_GATE 10
ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
+2 -2
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@@ -27,8 +27,8 @@ param set-default COM_DISARM_LAND 0.5
# EKF2 parameters
param set-default EKF2_AID_MASK 35
param set-default EKF2_IMU_POS_X 0.02
param set-default EKF2_GPS_POS_X 0.055
param set-default EKF2_GPS_POS_Z -0.15
param set-default SENS_GNSS0_XPOS 0.055
param set-default SENS_GNSS0_ZPOS -0.15
param set-default EKF2_MIN_RNG 0.03
param set-default EKF2_OF_POS_X 0.055
param set-default EKF2_OF_POS_Y 0.02
ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
+3 -3
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@@ -55,9 +55,9 @@ param set-default EKF2_BCOEF_X 31.5
param set-default EKF2_BCOEF_Y 25.5
param set-default EKF2_GPS_DELAY 100
param set-default EKF2_GPS_POS_X 0.06
param set-default EKF2_GPS_POS_Y 0.0
param set-default EKF2_GPS_POS_Z 0.0
param set-default SENS_GNSS0_XPOS 0.06
param set-default SENS_GNSS0_YPOS 0.0
param set-default SENS_GNSS0_ZPOS 0.0
param set-default EKF2_GPS_V_NOISE 0.5
param set-default EKF2_IMU_POS_X 0.06