From e3af000fdba9af82e412409bdd1e64729ea3897f Mon Sep 17 00:00:00 2001 From: TSC21 <n.marques21@hotmail.com> Date: Tue, 20 Nov 2018 22:04:35 +0000 Subject: [PATCH] init.d-posix: make 1013_iris_vision independent of 1010_iris_opt_flow --- ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow | 1 - .../init.d-posix/1010_iris_opt_flow.post | 1 - ROMFS/px4fmu_common/init.d-posix/1013_iris_vision | 13 +++++++++++-- .../init.d-posix/1013_iris_vision.post | 3 +++ 4 files changed, 14 insertions(+), 4 deletions(-) create mode 100644 ROMFS/px4fmu_common/init.d-posix/1013_iris_vision.post diff --git a/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow b/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow index 8a89b65326..4093c74aa7 100644 --- a/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow +++ b/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow @@ -11,7 +11,6 @@ if [ $AUTOCNF = yes ] then # EKF2 param set EKF2_AID_MASK 2 - param set EKF2_EV_DELAY 5 param set EKF2_EVP_NOISE 0.05 param set EKF2_EVA_NOISE 0.05 diff --git a/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow.post b/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow.post index 7806a8f2d0..868f402651 100644 --- a/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow.post +++ b/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow.post @@ -1,4 +1,3 @@ # shellcheck disable=SC2154 -mavlink stream -r 10 -s DISTANCE_SENSOR -u $udp_gcs_port_local mavlink stream -r 10 -s VISION_POSITION_ESTIMATE -u $udp_gcs_port_local diff --git a/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision b/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision index aa225de2ca..8f0cd8c458 100644 --- a/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision +++ b/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision @@ -5,7 +5,7 @@ # @type Quadrotor Wide # -sh /etc/init.d-posix/1010_iris_opt_flow +sh /etc/init.d-posix/10016_iris if [ $AUTOCNF = yes ] then @@ -13,7 +13,16 @@ then param set EKF2_AID_MASK 24 param set EKF2_EV_DELAY 5 - # LPE: Vision + baro | AEQ: External heading set to use vision input + # INAV: trust more on the vision input + param set INAV_W_XY_VIS_P 9.0 + param set INAV_W_Z_VIS_P 7.0 + param set INAV_W_XY_GPS_P 0.0 + param set INAV_W_XY_GPS_V 0.0 + param set INAV_W_Z_GPS_P 0.0 + + # LPE: Vision + baro param set LPE_FUSION 132 + + # AEQ: External heading set to use vision input param set ATT_EXT_HDG_M 1 fi diff --git a/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision.post b/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision.post new file mode 100644 index 0000000000..868f402651 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision.post @@ -0,0 +1,3 @@ + +# shellcheck disable=SC2154 +mavlink stream -r 10 -s VISION_POSITION_ESTIMATE -u $udp_gcs_port_local -- GitLab