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rpi px4.config: switch to ekf2

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Beat Küng
2017-03-09 11:13:33 +01:00
committed by Lorenz Meier
parent 541e53fdcf
commit 3a737097ee
2 changed files with 3 additions and 5 deletions
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7
posix-configs/rpi/px4.config
View File

@@ -2,9 +2,8 @@ uorb start
param load param load
param set SYS_AUTOSTART 4001 param set SYS_AUTOSTART 4001
param set MAV_BROADCAST 1 param set MAV_BROADCAST 1
sleep 1
param set MAV_TYPE 2 param set MAV_TYPE 2
param set SYS_MC_EST_GROUP 0 param set SYS_MC_EST_GROUP 2
df_lsm9ds1_wrapper start -R 4 df_lsm9ds1_wrapper start -R 4
#df_mpu9250_wrapper start -R 10 #df_mpu9250_wrapper start -R 10
#df_hmc5883_wrapper start #df_hmc5883_wrapper start
@@ -13,13 +12,11 @@ gps start -d /dev/spidev0.0 -i spi -p ubx
sensors start sensors start
commander start commander start
navigator start navigator start
attitude_estimator_q start ekf2 start
position_estimator_inav start
land_detector start multicopter land_detector start multicopter
mc_pos_control start mc_pos_control start
mc_att_control start mc_att_control start
mavlink start -u 14556 -r 1000000 mavlink start -u 14556 -r 1000000
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 50 mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50 mavlink stream -u 14556 -s ATTITUDE -r 50
mavlink start -d /dev/ttyUSB0 mavlink start -d /dev/ttyUSB0

1
posix-configs/rpi/px4_fw.config
View File

@@ -3,6 +3,7 @@ param load
param set MAV_BROADCAST 1 param set MAV_BROADCAST 1
#param set SYS_AUTOSTART 2104 #param set SYS_AUTOSTART 2104
param set MAV_TYPE 1 param set MAV_TYPE 1
param set SYS_MC_EST_GROUP 2
df_lsm9ds1_wrapper start -R 4 df_lsm9ds1_wrapper start -R 4
df_ms5611_wrapper start df_ms5611_wrapper start
#navio_rgbled start #navio_rgbled start