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LPE tuning for GPS delay in sim.

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This commit is contained in:
James Goppert
2016-03-08 08:56:33 -05:00
parent 12489654ea
commit ac66050cd6
3 changed files with 18 additions and 29 deletions
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posix-configs/SITL/init/rcS_lpe_jmavsim_iris
+2 -10
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@@ -32,12 +32,6 @@ param set COM_RC_IN_MODE 1
param set NAV_ACC_RAD 2.0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set MIS_TAKEOFF_ALT 5.0
param set MPC_HOLD_MAX_Z 2.0
param set MPC_HOLD_XY_DZ 0.1
param set MPC_HOLD_Z_DZ 0.1
param set MPC_Z_VEL_MAX 2.0
param set MPC_Z_VEL_P 0.4
# changes for LPE
param set COM_RC_IN_MODE 1
@@ -55,13 +49,10 @@ sensors start
commander start
land_detector start multicopter
navigator start
attitude_estimator_q start
local_position_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 80 -s LOCAL_POSITION_NED_COV -u 14556
mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
@@ -70,6 +61,7 @@ mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 20 -s RC_CHANNELS -u 14556
mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
mavlink stream -r 20 -s MANUAL_CONTROL -u 14556
mavlink boot_complete
sdlog2 start -r 100 -e -t -a
attitude_estimator_q start
local_position_estimator start