From aa4bdd2af3daa015ef9def15a017dd85bad95df9 Mon Sep 17 00:00:00 2001 From: Mark Whitehorn Date: Thu, 14 May 2015 09:57:19 -0600 Subject: [PATCH 1/3] change fmuv1 default config to INAV and att_estimator_q --- makefiles/config_px4fmu-v1_default.mk | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk index 55b73ffde3..014b0a8505 100644 --- a/makefiles/config_px4fmu-v1_default.mk +++ b/makefiles/config_px4fmu-v1_default.mk @@ -67,11 +67,10 @@ MODULES += modules/land_detector # Estimation modules (EKF / other filters) # # Too high RAM usage due to static allocations -# MODULES += modules/attitude_estimator_ekf -MODULES += modules/ekf_att_pos_estimator -# Since attitude_estimator_ekf is disabled, this app won't be -# worthwhile on its own -# MODULES += modules/position_estimator_inav +MODULES += modules/attitude_estimator_ekf +# MODULES += modules/ekf_att_pos_estimator +MODULES += modules/attitude_estimator_q +MODULES += modules/position_estimator_inav # # Vehicle Control From 71e40c2e16195b931fe4a653c6ab3de269561693 Mon Sep 17 00:00:00 2001 From: Mark Whitehorn Date: Thu, 21 May 2015 10:27:46 -0600 Subject: [PATCH 2/3] compile in ekf_att_pos and Q att estimators --- makefiles/config_px4fmu-v1_default.mk | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk index 014b0a8505..2e4829958e 100644 --- a/makefiles/config_px4fmu-v1_default.mk +++ b/makefiles/config_px4fmu-v1_default.mk @@ -67,8 +67,8 @@ MODULES += modules/land_detector # Estimation modules (EKF / other filters) # # Too high RAM usage due to static allocations -MODULES += modules/attitude_estimator_ekf -# MODULES += modules/ekf_att_pos_estimator +#MODULES += modules/attitude_estimator_ekf +MODULES += modules/ekf_att_pos_estimator MODULES += modules/attitude_estimator_q MODULES += modules/position_estimator_inav From 2142fcddd3e1e97e1cfca0698845646a570ef7d4 Mon Sep 17 00:00:00 2001 From: Mark Whitehorn Date: Thu, 21 May 2015 12:41:50 -0600 Subject: [PATCH 3/3] add comment that EKF_att_estimator does not run on FMUv1 --- ROMFS/px4fmu_common/init.d/rc.mc_apps | 2 ++ 1 file changed, 2 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_apps b/ROMFS/px4fmu_common/init.d/rc.mc_apps index beb9891d2e..914807889f 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_apps +++ b/ROMFS/px4fmu_common/init.d/rc.mc_apps @@ -13,6 +13,8 @@ then # and uses the older EKF filter. However users can # enable the new quaternion based complimentary # filter by setting EKF_ATT_ENABLED = 0. + # Note that on FMUv1, the EKF att estimator is not + # available and the Q estimator runs instead. if param compare EKF_ATT_ENABLED 1 then attitude_estimator_ekf start