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ROMFS: Reset the estimator param to EKF2 if LPE fails to start

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Lorenz Meier
2017-06-04 12:43:28 +02:00
parent 69ba69f30c
commit c9a28fc0eb
3 changed files with 20 additions and 5 deletions
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7
ROMFS/px4fmu_common/init.d/rc.mc_apps
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@@ -11,8 +11,8 @@
# INAV (deprecated)
if param compare SYS_MC_EST_GROUP 0
then
echo "ERROR [init] Estimator INAV deprecated. Using LPE"
param set SYS_MC_EST_GROUP 1
echo "ERROR [init] Estimator INAV deprecated. Using EKF2"
param set SYS_MC_EST_GROUP 2
param save
fi
@@ -25,6 +25,9 @@ then
then
local_position_estimator start
else
echo "ERROR [init] Estimator LPE not available. Using EKF2"
param set SYS_MC_EST_GROUP 2
param save
ekf2 start
fi
fi