#!nsh
#
# @name 3DR Iris Quadrotor SITL (Vision)
#
# @type Quadrotor Wide
#

sh /etc/init.d-posix/1010_iris_opt_flow

if [ $AUTOCNF = yes ]
then
	# EKF2: Vision position and heading
	param set EKF2_AID_MASK 24
	param set EKF2_EV_DELAY 5

	# LPE: Vision + baro | AEQ: External heading set to use vision input
	param set LPE_FUSION 132
	param set ATT_EXT_HDG_M 1
fi