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author | Lorenz Meier <lm@inf.ethz.ch> | 2015-05-06 09:16:34 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-05-06 09:16:34 +0200 |
commit | 9892f12d2e2d1655792429a214efb3cdd5314542 (patch) | |
tree | 78d44dcfec3695c9a1440b845e1e4c4e4145c1f6 /ROMFS/px4fmu_common/init.d/rc.mc_apps | |
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
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rc.mc_apps')
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.mc_apps | 16 |
1 files changed, 13 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 |