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Disable GPS in EKF2_AID_MASK by default

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As this flag breaks vision position aiding
This commit is contained in:
Oleg Kalachev
2022-05-31 14:28:23 +03:00
parent dd01353533
commit 9692c030f1
5 changed files with 7 additions and 3 deletions
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2
docs/en/parameters.md
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@@ -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*.<br>Details: [Optical Flow](optical_flow.md), [ArUco markers](aruco_map.md), [GPS](gps.md).|
|`EKF2_AID_MASK`|26|Checkboxes: *flow* + *vision position* + *vision yaw*.<br>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||

2
docs/en/simulation_usage.md
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@@ -40,6 +40,8 @@ In order to enable GPS sensor, set the `gps` argument in `simulator.launch` to `
<arg name="gps" value="true"/>
```
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: