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Disable EKF2 3D fusion temporarily in SITL, fix missing fast-init params for some configs

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This commit is contained in:
Lorenz Meier
2016-08-05 10:12:44 +02:00
parent 815c367294
commit db174cf8b1
8 changed files with 17 additions and 2 deletions
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1
posix-configs/SITL/init/rcS_gazebo_iris
View File

@@ -41,6 +41,7 @@ param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_I 0.15
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set EKF2_MAG_TYPE 1
replay tryapplyparams
simulator start -s
rgbledsim start

3
posix-configs/SITL/init/rcS_gazebo_plane
View File

@@ -25,6 +25,9 @@ param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set NAV_ACC_RAD 15.0
param set FW_THR_IDLE 0.8
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set EKF2_MAG_TYPE 1
replay tryapplyparams
simulator start -s
rgbledsim start

1
posix-configs/SITL/init/rcS_gazebo_solo
View File

@@ -38,6 +38,7 @@ param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_I 0.15
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set EKF2_MAG_TYPE 1
replay tryapplyparams
simulator start -s
rgbledsim start

3
posix-configs/SITL/init/rcS_gazebo_standard_vtol
View File

@@ -44,6 +44,9 @@ param set RTL_LAND_DELAY 0
param set COM_DISARM_LAND 5
param set COM_DL_LOSS_EN 1
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
replay tryapplyparams
simulator start -s
rgbledsim start

3
posix-configs/SITL/init/rcS_gazebo_tailsitter
View File

@@ -35,6 +35,9 @@ 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 EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set EKF2_MAG_TYPE 1
replay tryapplyparams
simulator start -s
rgbledsim start

1
posix-configs/SITL/init/rcS_gazebo_typhoon_h480
View File

@@ -40,6 +40,7 @@ param set MPC_XY_VEL_P 0.15
param set MPC_XY_VEL_I 0.2
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set EKF2_MAG_TYPE 1
replay tryapplyparams
simulator start -s
rgbledsim start

1
posix-configs/SITL/init/rcS_jmavsim_iris
View File

@@ -41,6 +41,7 @@ param set MPC_Z_VEL_MAX 2.0
param set MPC_Z_VEL_P 0.4
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set EKF2_MAG_TYPE 1
replay tryapplyparams
simulator start -s
rgbledsim start

6
posix-configs/SITL/init/rcS_multiple_gazebo_iris
View File

@@ -32,6 +32,9 @@ param set COM_RC_IN_MODE 1
param set NAV_ACC_RAD 2.0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set EKF2_MAG_TYPE 1
replay tryapplyparams
rgbledsim start
tone_alarm start
@@ -46,8 +49,7 @@ sensors start
commander start
land_detector start multicopter
navigator start
attitude_estimator_q start
position_estimator_inav start
ekf2 start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 quad_w.main.mix