From f032d0d9fcc5ade4bf79bcd35fc0c930584e5118 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 29 Apr 2019 11:50:36 -0400
Subject: [PATCH] SYS_MC_EST_GROUP mark LPE unsupported and update airframes
(#11925)
---
.../init.d/airframes/1002_standard_vtol.hil | 1 -
ROMFS/px4fmu_common/init.d/rc.fw_apps | 8 -----
ROMFS/px4fmu_common/init.d/rc.mc_apps | 25 +++++-----------
ROMFS/px4fmu_common/init.d/rc.vtol_apps | 29 +------------------
posix-configs/bbblue/px4.config | 3 --
posix-configs/bbblue/px4_fw.config | 3 --
posix-configs/bebop/px4.config | 2 --
posix-configs/eagle/200qx/px4.config | 1 -
posix-configs/eagle/210qc/px4.config | 1 -
posix-configs/eagle/flight/px4.config | 1 -
posix-configs/eagle/hil/px4.config | 1 -
posix-configs/ocpoc/px4.config | 1 -
posix-configs/rpi/px4.config | 1 -
posix-configs/rpi/px4_fw.config | 1 -
posix-configs/rpi/px4_hil.config | 1 -
src/lib/systemlib/system_params.c | 4 +--
src/modules/commander/PreflightCheck.cpp | 11 +++++--
17 files changed, 20 insertions(+), 74 deletions(-)
diff --git a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
index 6d9ea9ca26..745f0519f9 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
@@ -56,7 +56,6 @@ then
param set RTL_RETURN_ALT 30
param set SDLOG_DIRS_MAX 7
- param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2
param set VT_F_TRANS_THR 0.75
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_apps b/ROMFS/px4fmu_common/init.d/rc.fw_apps
index a556cf332a..bcbf1fb0a5 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_apps
@@ -5,14 +5,6 @@
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
-# LPE
-if param compare SYS_MC_EST_GROUP 1
-then
- echo "ERROR [init] Estimator LPE not supported on fixed wing. Using EKF2"
- param set SYS_MC_EST_GROUP 2
- param save
-fi
-
#
# Start the attitude and position estimator.
#
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_apps b/ROMFS/px4fmu_common/init.d/rc.mc_apps
index 75a6d25c5c..65329398ef 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_apps
@@ -9,16 +9,6 @@
# Begin Estimator Group Selection #
###############################################################################
-#
-# INAV (deprecated).
-#
-if param compare SYS_MC_EST_GROUP 0
-then
- echo "ERROR [init] Estimator INAV deprecated. Using EKF2"
- param set SYS_MC_EST_GROUP 2
- param save
-fi
-
#
# LPE
#
@@ -30,21 +20,22 @@ then
#
if attitude_estimator_q start
then
+ echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
local_position_estimator start
else
echo "ERROR [init] Estimator LPE not available. Using EKF2"
param set SYS_MC_EST_GROUP 2
param save
+ reboot
fi
-fi
-
-#
-# EKF2
-#
-if param compare SYS_MC_EST_GROUP 2
-then
+else
+ #
+ # EKF2
+ #
+ param set SYS_MC_EST_GROUP 2
ekf2 start
fi
+
###############################################################################
# End Estimator Group Selection #
###############################################################################
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_apps b/ROMFS/px4fmu_common/init.d/rc.vtol_apps
index 527c4ce23b..10ad0cdb7c 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_apps
@@ -9,34 +9,7 @@
# Begin Estimator group selection #
###############################################################################
-# INAV (deprecated)
-if param compare SYS_MC_EST_GROUP 0
-then
- echo "ERROR [init] Estimator INAV deprecated. Using EKF2"
- param set SYS_MC_EST_GROUP 2
- param save
-fi
-
-# LPE
-if param compare SYS_MC_EST_GROUP 1
-then
- # Try to start LPE. If it fails, start EKF2 as a default
- # Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
- if attitude_estimator_q start
- then
- local_position_estimator start
- else
- echo "ERROR [init] Estimator LPE not available. Using EKF2"
- param set SYS_MC_EST_GROUP 2
- param save
- fi
-fi
-
-# EKF
-if param compare SYS_MC_EST_GROUP 2
-then
- ekf2 start
-fi
+ekf2 start
###############################################################################
# End Estimator group selection #
diff --git a/posix-configs/bbblue/px4.config b/posix-configs/bbblue/px4.config
index 8b4e4b63c0..e40b2dcea3 100644
--- a/posix-configs/bbblue/px4.config
+++ b/posix-configs/bbblue/px4.config
@@ -33,9 +33,6 @@ param set MAV_BROADCAST 1
# MAV_TYPE: 1 Fixed wing aircraft, 2 Quadrotor
param set MAV_TYPE 2
-# Set multicopter estimator group, 1 local_position_estimator, attitude_estimator_q, 2 ekf2
-param set SYS_MC_EST_GROUP 2
-
# Three possible main power battery sources for BBBlue:
# 1. onboard 2S LiPo battery connector, which is connect to ADC channel 6
# 2. onboard 9-18V DC Jack, which is connect to ADC channel 5. This is the board default.
diff --git a/posix-configs/bbblue/px4_fw.config b/posix-configs/bbblue/px4_fw.config
index ec0c6379fc..414749688a 100644
--- a/posix-configs/bbblue/px4_fw.config
+++ b/posix-configs/bbblue/px4_fw.config
@@ -33,9 +33,6 @@ param set MAV_BROADCAST 1
# MAV_TYPE: 1 Fixed wing aircraft, 2 Quadrotor
param set MAV_TYPE 2
-# Set multicopter estimator group, 1 local_position_estimator, attitude_estimator_q, 2 ekf2
-param set SYS_MC_EST_GROUP 2
-
# Three possible main power battery sources for BBBlue:
# 1. onboard 2S LiPo battery connector, which is connect to ADC channel 6
# 2. onboard 9-18V DC Jack, which is connect to ADC channel 5. This is the board default.
diff --git a/posix-configs/bebop/px4.config b/posix-configs/bebop/px4.config
index f470cf4dd4..5287daad56 100644
--- a/posix-configs/bebop/px4.config
+++ b/posix-configs/bebop/px4.config
@@ -36,8 +36,6 @@ param set MC_PITCHRATE_I 0.8
param set MC_PITCHRATE_D 0.0
param set MC_PR_INT_LIM 0.5
-param set SYS_MC_EST_GROUP 2
-
df_ms5607_wrapper start
df_mpu6050_wrapper start -R 8
df_ak8963_wrapper start -R 32
diff --git a/posix-configs/eagle/200qx/px4.config b/posix-configs/eagle/200qx/px4.config
index 53a29d4eef..48286eec03 100644
--- a/posix-configs/eagle/200qx/px4.config
+++ b/posix-configs/eagle/200qx/px4.config
@@ -23,7 +23,6 @@ param set UART_ESC_MOTOR1 4
param set UART_ESC_MOTOR2 2
param set UART_ESC_MOTOR3 1
param set UART_ESC_MOTOR4 3
-param set SYS_MC_EST_GROUP 2
sleep 1
df_mpu9250_wrapper start
df_bmp280_wrapper start
diff --git a/posix-configs/eagle/210qc/px4.config b/posix-configs/eagle/210qc/px4.config
index 53a29d4eef..48286eec03 100644
--- a/posix-configs/eagle/210qc/px4.config
+++ b/posix-configs/eagle/210qc/px4.config
@@ -23,7 +23,6 @@ param set UART_ESC_MOTOR1 4
param set UART_ESC_MOTOR2 2
param set UART_ESC_MOTOR3 1
param set UART_ESC_MOTOR4 3
-param set SYS_MC_EST_GROUP 2
sleep 1
df_mpu9250_wrapper start
df_bmp280_wrapper start
diff --git a/posix-configs/eagle/flight/px4.config b/posix-configs/eagle/flight/px4.config
index 99578ac989..ca7624b986 100644
--- a/posix-configs/eagle/flight/px4.config
+++ b/posix-configs/eagle/flight/px4.config
@@ -1,7 +1,6 @@
uorb start
qshell start
param set SYS_AUTOSTART 4001
-param set SYS_MC_EST_GROUP 2
sleep 1
gps start -d /dev/tty-4
param set MAV_TYPE 2
diff --git a/posix-configs/eagle/hil/px4.config b/posix-configs/eagle/hil/px4.config
index 1dcb1fb9e0..3adb2664b9 100644
--- a/posix-configs/eagle/hil/px4.config
+++ b/posix-configs/eagle/hil/px4.config
@@ -37,7 +37,6 @@ param set MC_ROLLRATE_P 0.03
param set ATT_W_ACC 0.0002
param set ATT_W_MAG 0.002
param set ATT_W_GYRO_BIAS 0.05
-param set SYS_MC_EST_GROUP 0
sleep 1
commander start -hil
sensors start
diff --git a/posix-configs/ocpoc/px4.config b/posix-configs/ocpoc/px4.config
index 7d194021ea..c843c468a7 100644
--- a/posix-configs/ocpoc/px4.config
+++ b/posix-configs/ocpoc/px4.config
@@ -14,7 +14,6 @@ param set SYS_AUTOSTART 4001
param set MAV_BROADCAST 1
param set MAV_TYPE 2
param set MAV_SYS_ID 1
-param set SYS_MC_EST_GROUP 2
df_mpu9250_wrapper start_without_mag -R 10
df_hmc5883_wrapper start -D /dev/i2c-4
diff --git a/posix-configs/rpi/px4.config b/posix-configs/rpi/px4.config
index a4f4a4c998..d189b292f0 100644
--- a/posix-configs/rpi/px4.config
+++ b/posix-configs/rpi/px4.config
@@ -12,7 +12,6 @@ fi
param set SYS_AUTOSTART 4001
param set MAV_BROADCAST 1
param set MAV_TYPE 2
-param set SYS_MC_EST_GROUP 2
param set BAT_CNT_V_VOLT 0.001
param set BAT_V_DIV 10.9176300578
param set BAT_CNT_V_CURR 0.001
diff --git a/posix-configs/rpi/px4_fw.config b/posix-configs/rpi/px4_fw.config
index 6a32cdab74..7e89775d2a 100644
--- a/posix-configs/rpi/px4_fw.config
+++ b/posix-configs/rpi/px4_fw.config
@@ -10,7 +10,6 @@ param load
param set MAV_BROADCAST 1
param set SYS_AUTOSTART 2100
param set MAV_TYPE 1
-param set SYS_MC_EST_GROUP 2
param set BAT_CNT_V_VOLT 0.001
param set BAT_V_DIV 10.9176300578
diff --git a/posix-configs/rpi/px4_hil.config b/posix-configs/rpi/px4_hil.config
index 39269639bd..1a0a21e70d 100644
--- a/posix-configs/rpi/px4_hil.config
+++ b/posix-configs/rpi/px4_hil.config
@@ -12,7 +12,6 @@ param load
param set SYS_AUTOSTART 1001
param set MAV_BROADCAST 1
param set MAV_TYPE 2
-param set SYS_MC_EST_GROUP 0
dataman start
sensors start -hil
commander start -hil
diff --git a/src/lib/systemlib/system_params.c b/src/lib/systemlib/system_params.c
index 02da38e1ec..c2fa371eaa 100644
--- a/src/lib/systemlib/system_params.c
+++ b/src/lib/systemlib/system_params.c
@@ -100,8 +100,8 @@ PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2);
*
* Set the group of estimators used for multicopters and VTOLs
*
- * @value 1 local_position_estimator, attitude_estimator_q
- * @value 2 ekf2
+ * @value 1 local_position_estimator, attitude_estimator_q (unsupported)
+ * @value 2 ekf2 (recommended)
*
* @min 1
* @max 2
diff --git a/src/modules/commander/PreflightCheck.cpp b/src/modules/commander/PreflightCheck.cpp
index 29ca7225bf..9952e8ec9b 100644
--- a/src/modules/commander/PreflightCheck.cpp
+++ b/src/modules/commander/PreflightCheck.cpp
@@ -925,8 +925,15 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
/* ---- Navigation EKF ---- */
// only check EKF2 data if EKF2 is selected as the estimator and GNSS checking is enabled
- int32_t estimator_type;
- param_get(param_find("SYS_MC_EST_GROUP"), &estimator_type);
+ int32_t estimator_type = -1;
+
+ if (status.is_rotary_wing && !status.is_vtol) {
+ param_get(param_find("SYS_MC_EST_GROUP"), &estimator_type);
+
+ } else {
+ // EKF2 is currently the only supported option for FW & VTOL
+ estimator_type = 2;
+ }
if (estimator_type == 2) {
// don't report ekf failures for the first 10 seconds to allow time for the filter to start
--
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