diff --git a/clover_simulation/airframes/4500_clover b/clover_simulation/airframes/4500_clover index a7b658c8..a68f5d8b 100644 --- a/clover_simulation/airframes/4500_clover +++ b/clover_simulation/airframes/4500_clover @@ -7,30 +7,30 @@ . ${R}etc/init.d-posix/airframes/10016_iris # base on iris -param set ATT_W_EXT_HDG 0.5 -param set ATT_EXT_HDG_M 1 # 0 = none, 1 = vision, 2 = mocap +param set-default ATT_W_EXT_HDG 0.5 +param set-default ATT_EXT_HDG_M 1 # 0 = none, 1 = vision, 2 = mocap -param set COM_DISARM_LAND 1.0 +param set-default COM_DISARM_LAND 1.0 -param set LPE_FLW_SCALE 1.0 -param set LPE_FLW_R 0.2 -param set LPE_FLW_RR 0.0 -param set LPE_FLW_QMIN 10 -param set LPE_VIS_DELAY 0.0 -param set LPE_VIS_Z 0.1 -param set LPE_FUSION 86 # flow + vis + land detector + gyro comp +param set-default LPE_FLW_SCALE 1.0 +param set-default LPE_FLW_R 0.2 +param set-default LPE_FLW_RR 0.0 +param set-default LPE_FLW_QMIN 10 +param set-default LPE_VIS_DELAY 0.0 +param set-default LPE_VIS_Z 0.1 +param set-default LPE_FUSION 86 # flow + vis + land detector + gyro comp -param set SENS_FLOW_ROT 0 -param set SENS_FLOW_MINHGT 0.0 -param set SENS_FLOW_MAXHGT 4.0 -param set SENS_FLOW_MAXR 10.0 +param set-default SENS_FLOW_ROT 0 +param set-default SENS_FLOW_MINHGT 0.0 +param set-default SENS_FLOW_MAXHGT 4.0 +param set-default SENS_FLOW_MAXR 10.0 -param set EKF2_AID_MASK 26 # flow + vis pos + vis yaw -param set EKF2_OF_DELAY 0 -param set EKF2_OF_QMIN 10 -param set EKF2_OF_N_MIN 0.05 -param set EKF2_OF_N_MAX 0.2 -param set EKF2_HGT_MODE 2 # 0 = baro, 1 = gps, 2 = range, 3 = vision -param set EKF2_EVA_NOISE 0.1 -param set EKF2_EVP_NOISE 0.1 -param set EKF2_EV_DELAY 0 +param set-default EKF2_AID_MASK 26 # flow + vis pos + vis yaw +param set-default EKF2_OF_DELAY 0 +param set-default EKF2_OF_QMIN 10 +param set-default EKF2_OF_N_MIN 0.05 +param set-default EKF2_OF_N_MAX 0.2 +param set-default EKF2_HGT_MODE 2 # 0 = baro, 1 = gps, 2 = range, 3 = vision +param set-default EKF2_EVA_NOISE 0.1 +param set-default EKF2_EVP_NOISE 0.1 +param set-default EKF2_EV_DELAY 0