mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-21 03:07:36 +08:00
TSC21
30 lines
508 B
Plaintext
30 lines
508 B
Plaintext
#!nsh
|
|
#
|
|
# @name 3DR Iris Quadrotor SITL (Optical Flow)
|
|
#
|
|
# @type Quadrotor Wide
|
|
#
|
|
|
|
sh /etc/init.d-posix/10016_iris
|
|
|
|
if [ $AUTOCNF = yes ]
|
|
then
|
|
# EKF2
|
|
param set EKF2_AID_MASK 2
|
|
param set EKF2_EVP_NOISE 0.05
|
|
param set EKF2_EVA_NOISE 0.05
|
|
|
|
# INAV
|
|
param set INAV_LIDAR_EST 1
|
|
param set INAV_W_XY_FLOW 1.0
|
|
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: Flow-only mode
|
|
param set LPE_FUSION 242
|
|
param set LPE_FAKE_ORIGIN 1
|
|
|
|
param set MPC_ALT_MODE 2
|
|
fi
|