From 9692c030f1bc36657510d5232f85e4f4411aa5ce Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 31 May 2022 14:28:23 +0300 Subject: [PATCH] Disable GPS in EKF2_AID_MASK by default As this flag breaks vision position aiding --- clover_simulation/airframes/4500_clover | 2 +- docs/en/parameters.md | 2 +- docs/en/simulation_usage.md | 2 ++ docs/ru/parameters.md | 2 +- docs/ru/simulation_usage.md | 2 ++ 5 files changed, 7 insertions(+), 3 deletions(-) diff --git a/clover_simulation/airframes/4500_clover b/clover_simulation/airframes/4500_clover index fe9b7de0..bcbbeeee 100644 --- a/clover_simulation/airframes/4500_clover +++ b/clover_simulation/airframes/4500_clover @@ -25,7 +25,7 @@ param set SENS_FLOW_MINHGT 0.0 param set SENS_FLOW_MAXHGT 4.0 param set SENS_FLOW_MAXR 10.0 -param set EKF2_AID_MASK 27 # gps + flow + vis pos + vis yaw +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 diff --git a/docs/en/parameters.md b/docs/en/parameters.md index 061157b1..00dae6a3 100644 --- a/docs/en/parameters.md +++ b/docs/en/parameters.md @@ -39,7 +39,7 @@ In case of using EKF2 (official firmware): |Parameter|Value|Comment| |-|-|-| -|`EKF2_AID_MASK`|27|Checkboxes: (optionally) *gps* + *flow* + *vision position* + *vision yaw*.
Details: [Optical Flow](optical_flow.md), [ArUco markers](aruco_map.md), [GPS](gps.md).| +|`EKF2_AID_MASK`|26|Checkboxes: *flow* + *vision position* + *vision yaw*.
Details: [Optical Flow](optical_flow.md), [ArUco markers](aruco_map.md), [GPS](gps.md).| |`EKF2_OF_DELAY`|0|| |`EKF2_OF_QMIN`|10|| |`EKF2_OF_N_MIN`|0.05|| diff --git a/docs/en/simulation_usage.md b/docs/en/simulation_usage.md index 8d356103..7b3b2500 100644 --- a/docs/en/simulation_usage.md +++ b/docs/en/simulation_usage.md @@ -40,6 +40,8 @@ In order to enable GPS sensor, set the `gps` argument in `simulator.launch` to ` ``` +Turn also on the *gps* flag in the `EKF2_AID_MASK` PX4 parameter (using QGroundControl). + ### Camera If you don't need the camera when flying using GPS, it may be disabled in `simulator.launch` file: diff --git a/docs/ru/parameters.md b/docs/ru/parameters.md index 3db735a7..b6240c0c 100644 --- a/docs/ru/parameters.md +++ b/docs/ru/parameters.md @@ -39,7 +39,7 @@ |Параметр|Значение|Примечание| |-|-|-| -|`EKF2_AID_MASK`|27|Чекбоксы: (опционально) *gps* + *flow* + *vision position* + *vision yaw*.
Подробнее: [Optical Flow](optical_flow.md), [ArUco-маркеры](aruco_map.md), [GPS](gps.md).| +|`EKF2_AID_MASK`|26|Чекбоксы: *flow* + *vision position* + *vision yaw*.
Подробнее: [Optical Flow](optical_flow.md), [ArUco-маркеры](aruco_map.md), [GPS](gps.md).| |`EKF2_OF_DELAY`|0|| |`EKF2_OF_QMIN`|10|| |`EKF2_OF_N_MIN`|0.05|| diff --git a/docs/ru/simulation_usage.md b/docs/ru/simulation_usage.md index aee32d09..46bb156c 100644 --- a/docs/ru/simulation_usage.md +++ b/docs/ru/simulation_usage.md @@ -42,6 +42,8 @@ GPS датчик необходим полетов с использование ``` +Включите также флажок *gps* в параметре PX4 `EKF2_AID_MASK` (используя QGroundControl). + ### Камера При полете по GPS камера может быть не нужна, ее также можно отключить в файле `simulator.launch`: