From ce9bb0dc6bd2501260511b4aa7c20bb233e05d98 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 12 May 2025 10:59:19 +0200 Subject: [PATCH] multicopter defaults: use PX4 default <2g ublox GNSS dynamic model also for multirotors 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. --- ROMFS/px4fmu_common/init.d/rc.mc_defaults | 2 -- 1 file changed, 2 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults index db11cedbb3..995e9ddbab 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults @@ -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