From febbb176bd8c95d060fcb45e942b671cfceb5fae Mon Sep 17 00:00:00 2001 From: Jacob Dahl Date: Fri, 20 Jun 2025 15:21:03 -0800 Subject: [PATCH] fix rangefinder params --- .../init.d-posix/airframes/4016_gz_x500_lidar_down | 3 +++ src/modules/ekf2/params_range_finder.yaml | 6 +++--- src/modules/ekf2/params_terrain.yaml | 4 ++-- 3 files changed, 8 insertions(+), 5 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4016_gz_x500_lidar_down b/ROMFS/px4fmu_common/init.d-posix/airframes/4016_gz_x500_lidar_down index 99e986231e..a4934635f3 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4016_gz_x500_lidar_down +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4016_gz_x500_lidar_down @@ -8,3 +8,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar_down} . ${R}etc/init.d-posix/airframes/4001_gz_x500 + +param set-default EKF2_RNG_POS_Z -0.177 +param set-default EKF2_MIN_RNG 0 diff --git a/src/modules/ekf2/params_range_finder.yaml b/src/modules/ekf2/params_range_finder.yaml index fbd1f6db3f..48466a200d 100644 --- a/src/modules/ekf2/params_range_finder.yaml +++ b/src/modules/ekf2/params_range_finder.yaml @@ -119,7 +119,7 @@ parameters: EKF2_RNG_POS_X: description: short: X position of range finder origin in body frame - long: Forward axis with origin relative to vehicle centre of gravity + long: Forward axis (roll) with origin relative to vehicle centre of gravity type: float default: 0.0 unit: m @@ -127,7 +127,7 @@ parameters: EKF2_RNG_POS_Y: description: short: Y position of range finder origin in body frame - long: Forward axis with origin relative to vehicle centre of gravity + long: Right axis (pitch) with origin relative to vehicle centre of gravity type: float default: 0.0 unit: m @@ -135,7 +135,7 @@ parameters: EKF2_RNG_POS_Z: description: short: Z position of range finder origin in body frame - long: Forward axis with origin relative to vehicle centre of gravity + long: Down axis (yaw) with origin relative to vehicle centre of gravity type: float default: 0.0 unit: m diff --git a/src/modules/ekf2/params_terrain.yaml b/src/modules/ekf2/params_terrain.yaml index 5fc361c5cd..122a1274a2 100644 --- a/src/modules/ekf2/params_terrain.yaml +++ b/src/modules/ekf2/params_terrain.yaml @@ -28,7 +28,7 @@ parameters: where the range finder may be inside its minimum measurements distance when on ground. type: float - default: 0.1 - min: 0.01 + default: 0 + min: 0 unit: m decimal: 2