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init.d-posix: make 1013_iris_vision independent of 1010_iris_opt_flow

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TSC21 2018-11-20 22:04:35 +00:00 committed by Lorenz Meier
parent dcdddacdb2
commit e3af000fdb
4 changed files with 14 additions and 4 deletions
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1
ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow
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@ -11,7 +11,6 @@ if [ $AUTOCNF = yes ]
then
# EKF2
param set EKF2_AID_MASK 2
param set EKF2_EV_DELAY 5
param set EKF2_EVP_NOISE 0.05
param set EKF2_EVA_NOISE 0.05

1
ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow.post
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@ -1,4 +1,3 @@
# shellcheck disable=SC2154
mavlink stream -r 10 -s DISTANCE_SENSOR -u $udp_gcs_port_local
mavlink stream -r 10 -s VISION_POSITION_ESTIMATE -u $udp_gcs_port_local

13
ROMFS/px4fmu_common/init.d-posix/1013_iris_vision
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@ -5,7 +5,7 @@
# @type Quadrotor Wide
#
sh /etc/init.d-posix/1010_iris_opt_flow
sh /etc/init.d-posix/10016_iris
if [ $AUTOCNF = yes ]
then
@ -13,7 +13,16 @@ then
param set EKF2_AID_MASK 24
param set EKF2_EV_DELAY 5
# LPE: Vision + baro | AEQ: External heading set to use vision input
# INAV: trust more on the vision input
param set INAV_W_XY_VIS_P 9.0
param set INAV_W_Z_VIS_P 7.0
param set INAV_W_XY_GPS_P 0.0
param set INAV_W_XY_GPS_V 0.0
param set INAV_W_Z_GPS_P 0.0
# LPE: Vision + baro
param set LPE_FUSION 132
# AEQ: External heading set to use vision input
param set ATT_EXT_HDG_M 1
fi

3
ROMFS/px4fmu_common/init.d-posix/1013_iris_vision.post Normal file
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@ -0,0 +1,3 @@
# shellcheck disable=SC2154
mavlink stream -r 10 -s VISION_POSITION_ESTIMATE -u $udp_gcs_port_local