From 762613f6594c15de292a97af818956b324e21084 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 7 Jun 2022 01:39:26 +0300 Subject: [PATCH] Minor changes --- clover/src/rc.cpp | 2 +- clover_simulation/airframes/4500_clover | 6 +++--- docs/en/parameters.md | 2 +- docs/ru/parameters.md | 2 +- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/clover/src/rc.cpp b/clover/src/rc.cpp index 24132ea8..b9900ee4 100644 --- a/clover/src/rc.cpp +++ b/clover/src/rc.cpp @@ -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("mavlink/to", 1); diff --git a/clover_simulation/airframes/4500_clover b/clover_simulation/airframes/4500_clover index bcbbeeee..a7b658c8 100644 --- a/clover_simulation/airframes/4500_clover +++ b/clover_simulation/airframes/4500_clover @@ -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 diff --git a/docs/en/parameters.md b/docs/en/parameters.md index 00dae6a3..caef83fd 100644 --- a/docs/en/parameters.md +++ b/docs/en/parameters.md @@ -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.
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.
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|| diff --git a/docs/ru/parameters.md b/docs/ru/parameters.md index b6240c0c..312de3e0 100644 --- a/docs/ru/parameters.md +++ b/docs/ru/parameters.md @@ -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*.
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*.
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||