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SYS_MC_EST_GROUP: add q estimator only option and activate on omnibus

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Beat Küng
2019-06-06 09:33:48 +02:00
committed by Daniel Agar
parent 1321f96b59
commit 73102dc3c4
4 changed files with 22 additions and 7 deletions
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8
boards/omnibus/f4sd/init/rc.board_defaults
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@@ -4,6 +4,12 @@
#------------------------------------------------------------------------------
# transition from LPE+Q to Q estimator (2019-06-05)
if param compare SYS_MC_EST_GROUP 1
then
param set SYS_MC_EST_GROUP 3
fi
if [ $AUTOCNF = yes ]
then
@@ -11,7 +17,7 @@ then
param set CBRK_IO_SAFETY 22027
# use the Q attitude estimator, it works w/o mag or GPS.
param set SYS_MC_EST_GROUP 1
param set SYS_MC_EST_GROUP 3
param set ATT_ACC_COMP 0
param set ATT_W_ACC 0.4000
param set ATT_W_GYRO_BIAS 0.0000