CopterExpress/clover
1
0
Fork 0
mirror of https://github.com/CopterExpress/clover.git synced 2026-06-08 10:34:32 +00:00
Code Issues Packages Projects Releases Wiki Activity

Disable GPS in EKF2_AID_MASK by default

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

2
clover_simulation/airframes/4500_clover
View File

@@ -25,7 +25,7 @@ param set SENS_FLOW_MINHGT 0.0
param set SENS_FLOW_MAXHGT 4.0 param set SENS_FLOW_MAXHGT 4.0
param set SENS_FLOW_MAXR 10.0 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_DELAY 0
param set EKF2_OF_QMIN 10 param set EKF2_OF_QMIN 10
param set EKF2_OF_N_MIN 0.05 param set EKF2_OF_N_MIN 0.05

2
docs/en/parameters.md
View File

@@ -39,7 +39,7 @@ In case of using EKF2 (official firmware):
|Parameter|Value|Comment| |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_DELAY`|0||
|`EKF2_OF_QMIN`|10|| |`EKF2_OF_QMIN`|10||
|`EKF2_OF_N_MIN`|0.05|| |`EKF2_OF_N_MIN`|0.05||

2
docs/en/simulation_usage.md
View File

@@ -40,6 +40,8 @@ In order to enable GPS sensor, set the `gps` argument in `simulator.launch` to `
<arg name="gps" value="true"/> <arg name="gps" value="true"/>
``` ```
Turn also on the *gps* flag in the `EKF2_AID_MASK` PX4 parameter (using QGroundControl).
### Camera ### Camera
If you don't need the camera when flying using GPS, it may be disabled in `simulator.launch` file: If you don't need the camera when flying using GPS, it may be disabled in `simulator.launch` file:

2
docs/ru/parameters.md
View File

@@ -39,7 +39,7 @@
|Параметр|Значение|Примечание| |Параметр|Значение|Примечание|
|-|-|-| |-|-|-|
|`EKF2_AID_MASK`|27|Чекбоксы: (опционально) *gps* + *flow* + *vision position* + *vision yaw*.<br>Подробнее: [Optical Flow](optical_flow.md), [ArUco-маркеры](aruco_map.md), [GPS](gps.md).| |`EKF2_AID_MASK`|26|Чекбоксы: *flow* + *vision position* + *vision yaw*.<br>Подробнее: [Optical Flow](optical_flow.md), [ArUco-маркеры](aruco_map.md), [GPS](gps.md).|
|`EKF2_OF_DELAY`|0|| |`EKF2_OF_DELAY`|0||
|`EKF2_OF_QMIN`|10|| |`EKF2_OF_QMIN`|10||
|`EKF2_OF_N_MIN`|0.05|| |`EKF2_OF_N_MIN`|0.05||

2
docs/ru/simulation_usage.md
View File

@@ -42,6 +42,8 @@ GPS датчик необходим полетов с использование
<arg name="gps" value="true"/> <arg name="gps" value="true"/>
``` ```
Включите также флажок *gps* в параметре PX4 `EKF2_AID_MASK` (используя QGroundControl).
### Камера ### Камера
При полете по GPS камера может быть не нужна, ее также можно отключить в файле `simulator.launch`: При полете по GPS камера может быть не нужна, ее также можно отключить в файле `simulator.launch`: