From cf79be15598d88319355b69eb21d1b76053050de Mon Sep 17 00:00:00 2001 From: ChristophTobler Date: Sun, 28 Jan 2018 19:12:38 +0100 Subject: [PATCH] sitl ekf2 config: add vision position estimate --- posix-configs/SITL/init/ekf2/iris_opt_flow | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/posix-configs/SITL/init/ekf2/iris_opt_flow b/posix-configs/SITL/init/ekf2/iris_opt_flow index 86673049c0..cb2c15ece3 100644 --- a/posix-configs/SITL/init/ekf2/iris_opt_flow +++ b/posix-configs/SITL/init/ekf2/iris_opt_flow @@ -45,6 +45,9 @@ param set EKF2_ANGERR_INIT 0.01 param set EKF2_MAG_TYPE 1 param set EKF2_AID_MASK 2 param set EKF2_HGT_MODE 2 +param set EKF2_EV_DELAY 5 +param set EKF2_EVP_NOISE 0.05 +param set EKF2_EVA_NOISE 0.05 replay tryapplyparams simulator start -s tone_alarm start @@ -75,6 +78,7 @@ mavlink stream -r 20 -s RC_CHANNELS -u 14556 mavlink stream -r 250 -s HIGHRES_IMU -u 14556 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556 mavlink stream -r 10 -s DISTANCE_SENSOR -u 14556 +mavlink stream -r 10 -s VISION_POSITION_ESTIMATE -u 14556 logger start -e -t mavlink boot_complete replay trystart