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ekf2: reduce GPS initialization time for SITL from 10s to 0.5s

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Speeds up SITL startup.
This commit is contained in:
Beat Küng
2019-05-15 10:17:28 +02:00
committed by Lorenz Meier
parent f7ff82c754
commit 5d6cc7d033
4 changed files with 22 additions and 2 deletions
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2
ROMFS/px4fmu_common/init.d-posix/rcS
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@@ -116,6 +116,8 @@ then
param set EKF2_ANGERR_INIT 0.01
param set EKF2_HGT_MODE 0
param set EKF2_GBIAS_INIT 0.01
# Speedup SITL startup
param set EKF2_REQ_GPS_H 0.5
# LPE: GPS only mode
param set LPE_FUSION 145