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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-05-06 09:16:34 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-05-06 09:16:34 +0200 |
| commit | 9892f12d2e2d1655792429a214efb3cdd5314542 (patch) | |
| tree | 78d44dcfec3695c9a1440b845e1e4c4e4145c1f6 | |
| parent | 6c859245e28f7e1d5a019c8f36461ba73d1f080d (diff) | |
| download | px4-firmware-9892f12d2e2d1655792429a214efb3cdd5314542.tar.gz px4-firmware-9892f12d2e2d1655792429a214efb3cdd5314542.tar.bz2 px4-firmware-9892f12d2e2d1655792429a214efb3cdd5314542.zip | |
Attitude filter for multirotors: Let users choose between filters
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.mc_apps | 16 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c | 3 |
2 files changed, 16 insertions, 3 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_apps b/ROMFS/px4fmu_common/init.d/rc.mc_apps index a28ff1bbe..12049096a 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_apps +++ b/ROMFS/px4fmu_common/init.d/rc.mc_apps @@ -4,11 +4,21 @@ # att & pos estimator, att & pos control. # -# previously (2014) the system was relying on -# INAV, which defaults to 0 now. +# The system is defaulting to INAV_ENABLED = 1 +# but users can alternatively try the EKF-based +# filter by setting INAV_ENABLED = 0 if param compare INAV_ENABLED 1 then - attitude_estimator_q start + # The system is defaulting to EKF_ATT_ENABLED = 0 + # and uses the new quaternion based complimentary + # filter. However users can enable the older EKF + # filter if they choose to. + if param compare EKF_ATT_ENABLED 1 + then + attitude_estimator_ekf start + else + attitude_estimator_q start + fi position_estimator_inav start else ekf_att_pos_estimator start diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c index fe480e12b..7eb1baeae 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -95,6 +95,9 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V4_R1, 10000.0f); PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f); /* magnetic declination, in degrees */ +PARAM_DEFINE_INT32(EKF_ATT_ENABLED, 0); + +/* magnetic declination, in degrees */ PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f); PARAM_DEFINE_INT32(ATT_ACC_COMP, 2); |