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set EKF2_AID_MASK and EKF2_HGT_MODE because of iris_opt_flow

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ChristophTobler
2017-03-15 08:32:05 +01:00
committed by Beat Küng
parent 948635c989
commit d5137ed794
7 changed files with 198 additions and 184 deletions
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84
posix-configs/SITL/init/ekf2/standard_vtol
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@@ -1,62 +1,64 @@
uorb start
param load
param set MAV_TYPE 22
param set VT_TYPE 2
param set VT_MOT_COUNT 4
param set VT_TRANS_THR 0.75
param set SYS_AUTOSTART 13006
param set SYS_RESTART_TYPE 2
param set SYS_MC_EST_GROUP 2
dataman start
param set BAT_N_CELLS 3
param set CAL_GYRO0_ID 2293768
param set CAL_ACC0_ID 1376264
param set CAL_ACC1_ID 1310728
param set CAL_MAG0_ID 196616
param set CAL_GYRO0_XOFF 0.01
param set CAL_ACC0_XOFF 0.01
param set CAL_ACC0_YOFF -0.01
param set CAL_ACC0_ZOFF 0.01
param set CAL_ACC0_XSCALE 1.01
param set CAL_ACC0_YOFF -0.01
param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZOFF 0.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_ID 1310728
param set CAL_ACC1_XOFF 0.01
param set CAL_GYRO0_ID 2293768
param set CAL_GYRO0_XOFF 0.01
param set CAL_MAG0_ID 196616
param set CAL_MAG0_XOFF 0.01
param set MC_ROLLRATE_P 0.3
param set MC_PITCHRATE_P 0.2
param set MC_PITCH_P 6
param set MC_ROLL_P 6
param set MPC_XY_P 0.8
param set MPC_ACC_HOR_MAX 2.0
param set MPC_XY_VEL_P 0.15
param set MPC_XY_VEL_I 0.2
param set MPC_XY_VEL_D 0.005
param set MPC_XY_FF 0.1
param set MPC_Z_VEL_MAX 1.5
param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_I 0.15
param set COM_DISARM_LAND 5
param set COM_RC_IN_MODE 1
param set EKF2_AID_MASK 1
param set EKF2_ANGERR_INIT 0.01
param set EKF2_GBIAS_INIT 0.01
param set EKF2_HGT_MODE 0
param set EKF2_MAG_TYPE 1
param set FW_AIRSPD_MAX 25
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set FW_AIRSPD_MAX 25
param set SENS_BOARD_ROT 0
param set SENS_DPRES_OFF 0.001
param set SENS_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set NAV_ACC_RAD 5.0
param set NAV_LOITER_RAD 80
param set MPC_TKO_SPEED 1.0
param set MAV_TYPE 22
param set MC_PITCH_P 6
param set MC_PITCHRATE_P 0.2
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.3
param set MIS_LTRMIN_ALT 10
param set MIS_TAKEOFF_ALT 10
param set MIS_YAW_TMT 10
param set RTL_RETURN_ALT 30.0
param set MPC_ACC_HOR_MAX 2
param set MPC_ACC_HOR_MAX 2.0
param set MPC_TKO_SPEED 1.0
param set MPC_XY_FF 0.1
param set MPC_XY_P 0.8
param set MPC_XY_VEL_D 0.005
param set MPC_XY_VEL_I 0.2
param set MPC_XY_VEL_P 0.15
param set MPC_Z_VEL_I 0.15
param set MPC_Z_VEL_MAX 1.5
param set MPC_Z_VEL_P 0.6
param set NAV_ACC_RAD 5.0
param set NAV_DLL_ACT 2
param set NAV_LOITER_RAD 80
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set COM_DISARM_LAND 5
param set MPC_ACC_HOR_MAX 2
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set EKF2_MAG_TYPE 1
param set RTL_RETURN_ALT 30.0
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set SENS_DPRES_OFF 0.001
param set SYS_AUTOSTART 13006
param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2
param set VT_MOT_COUNT 4
param set VT_TRANS_THR 0.75
param set VT_TYPE 2
replay tryapplyparams
simulator start -s
tone_alarm start