fly316/PX4-Autopilot
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multicopter defaults: use PX4 default <2g ublox GNSS dynamic model also for multirotors

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It currently defaults to 1g for multirotors, which works in most cases. However, during extended high-acceleration flight (e.g. in Stabilized mode), the limited dynamic model can upset the EKF, causing repeated resets due to data inconsistencies. Recovery is sometimes quick but can also be too slow to maintain position after high acceleration flight. This issue was observed on an 850mm vehicle, not a racer.
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Matthias Grob 2025-05-12 10:59:19 +02:00 committed by Mathieu Bresciani
parent 4abe2d1dab
commit ce9bb0dc6b
1 changed files with 0 additions and 2 deletions
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ROMFS/px4fmu_common/init.d/rc.mc_defaults
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@ -20,7 +20,5 @@ param set-default NAV_ACC_RAD 2
param set-default RTL_RETURN_ALT 30
param set-default RTL_DESCEND_ALT 10
param set-default GPS_UBX_DYNMODEL 6
# lower RNG_FOG since MC are expected to fly closer over obstacles
param set-default EKF2_RNG_FOG 1.0