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This commit is contained in:
Oleg Kalachev
2022-06-07 01:39:26 +03:00
parent 51112651d4
commit 762613f659
4 changed files with 6 additions and 6 deletions
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2
clover/src/rc.cpp
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@@ -91,7 +91,7 @@ private:
void fakeGCSThread()
{
// Awful workaround for fixing PX4 not sending STATUSTEXTs
// if there is no GCS hearbeats.
// if there is no GCS heartbeats.
// TODO: use timer
// TODO: remove, when PX4 get this fixed.
ros::Publisher mavlink_pub = nh.advertise<mavros_msgs::Mavlink>("mavlink/to", 1);

6
clover_simulation/airframes/4500_clover
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@@ -8,7 +8,7 @@
. ${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
param set ATT_EXT_HDG_M 1 # 0 = none, 1 = vision, 2 = mocap
param set COM_DISARM_LAND 1.0
@@ -18,7 +18,7 @@ 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
param set LPE_FUSION 86 # flow + vis + land detector + gyro comp
param set SENS_FLOW_ROT 0
param set SENS_FLOW_MINHGT 0.0
@@ -30,7 +30,7 @@ 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
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

2
docs/en/parameters.md
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@@ -22,7 +22,7 @@ In case of using LPE ([COEX patched firmware](firmware.md)):
|Parameter|Value|Comment|
|-|-|-|
|`LPE_FUSION`|86|Checkboxes: *flow* + *vis* + *land Detector* + *gyro comp*. If flying over horizontal floor *pub agl as lpos down* checkbox is allowed.<br>Details: [Optical Flow](optical_flow.md), [ArUco markers](aruco_map.md), [GPS](gps.md).|
|`LPE_FUSION`|86|Checkboxes: *flow* + *vis* + *land detector* + *gyro comp*. If flying over horizontal floor *pub agl as lpos down* checkbox is allowed.<br>Details: [Optical Flow](optical_flow.md), [ArUco markers](aruco_map.md), [GPS](gps.md).|
|`LPE_VIS_DELAY`|0.0||
|`LPE_VIS_Z`|0.1||
|`LPE_FLW_SCALE`|1.0||

2
docs/ru/parameters.md
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@@ -22,7 +22,7 @@
|Параметр|Значение|Примечание|
|-|-|-|
|`LPE_FUSION`|86|Чекбоксы: *flow* + *vis* + *land Detector* + *gyro comp*. При полете над ровным полом возможно включение *pub agl as lpos down*. <br>Подробнее: [Optical Flow](optical_flow.md), [ArUco-маркеры](aruco_map.md), [GPS](gps.md).|
|`LPE_FUSION`|86|Чекбоксы: *flow* + *vis* + *land detector* + *gyro comp*. При полете над ровным полом возможно включение *pub agl as lpos down*. <br>Подробнее: [Optical Flow](optical_flow.md), [ArUco-маркеры](aruco_map.md), [GPS](gps.md).|
|`LPE_VIS_DELAY`|0.0||
|`LPE_VIS_Z`|0.1||
|`LPE_FLW_SCALE`|1.0||