From 9f6c882d2a2f6f0f41b8f17a0c99bea39da7b21c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Gon=C3=A7alo=20Atan=C3=A1sio?= Date: Fri, 5 Mar 2021 00:30:17 +0000 Subject: [PATCH] boards: crazyflie v2.1 Default to EKF2 with no MAG Co-authored-by: TheLegendaryJedi --- ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 index 5ba7a83891..67fb4406ce 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 +++ b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 @@ -19,8 +19,10 @@ set MIXER quad_x_cw set PWM_OUT 1234 -param set-default SYS_MC_EST_GROUP 3 +param set-default SYS_MC_EST_GROUP 2 param set-default SYS_HAS_MAG 0 +param set-default EKF2_AID_MASK 2 +param set-default EKF2_MAG_TYPE 5 param set-default BAT_N_CELLS 1 param set-default BAT1_N_CELLS 1 @@ -58,7 +60,7 @@ param set-default MPC_MAX_FLOW_HGT 3 param set-default NAV_RCL_ACT 3 param set-default PWM_MAIN_DISARM 0 -param set-default PWM_MAIN_MIN 0 +param set-default PWM_MAIN_MIN 20 param set-default PWM_MAIN_MAX 255 # Run the motors at 328.125 kHz (recommended)