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init.d-posix: vision: set the appropriate parameters

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TSC21
2018-11-21 12:21:16 +01:00
committed by Lorenz Meier
parent adc81aaab5
commit dcdddacdb2
2 changed files with 6 additions and 2 deletions
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ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow
+2
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@@ -9,11 +9,13 @@ sh /etc/init.d-posix/10016_iris
if [ $AUTOCNF = yes ] if [ $AUTOCNF = yes ]
then then
# EKF2
param set EKF2_AID_MASK 2 param set EKF2_AID_MASK 2
param set EKF2_EV_DELAY 5 param set EKF2_EV_DELAY 5
param set EKF2_EVP_NOISE 0.05 param set EKF2_EVP_NOISE 0.05
param set EKF2_EVA_NOISE 0.05 param set EKF2_EVA_NOISE 0.05
# INAV
param set INAV_LIDAR_EST 1 param set INAV_LIDAR_EST 1
param set INAV_W_XY_FLOW 1.0 param set INAV_W_XY_FLOW 1.0
param set INAV_W_XY_GPS_P 0.0 param set INAV_W_XY_GPS_P 0.0
ROMFS/px4fmu_common/init.d-posix/1013_iris_vision
+4 -2
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@@ -9,9 +9,11 @@ sh /etc/init.d-posix/1010_iris_opt_flow
if [ $AUTOCNF = yes ] if [ $AUTOCNF = yes ]
then then
param set EKF2_AID_MASK 8 # EKF2: Vision position and heading
param set EKF2_AID_MASK 24
param set EKF2_EV_DELAY 5 param set EKF2_EV_DELAY 5
# LPE: Vision + baro # LPE: Vision + baro | AEQ: External heading set to use vision input
param set LPE_FUSION 132 param set LPE_FUSION 132
param set ATT_EXT_HDG_M 1
fi fi