From 9d97c7c5cb90a33b94767bfe6098a0dffeb7613b Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Mon, 14 Aug 2023 15:30:14 +1200 Subject: [PATCH] kakuteh7: use EKF2 by default Signed-off-by: Julian Oes --- boards/holybro/kakuteh7/init/rc.board_defaults | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/boards/holybro/kakuteh7/init/rc.board_defaults b/boards/holybro/kakuteh7/init/rc.board_defaults index 413b2e6ff6..47dea71be6 100644 --- a/boards/holybro/kakuteh7/init/rc.board_defaults +++ b/boards/holybro/kakuteh7/init/rc.board_defaults @@ -22,12 +22,10 @@ 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 - +# use EKF2 without mag param set-default SYS_HAS_MAG 0 +# and 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