From f78a03ec8943b596d5a99b893188a159d5319888 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 13 Jan 2023 12:06:55 +0300 Subject: [PATCH] Change default EKF2_HGT_MODE to 3 (vision) --- clover_simulation/airframes/4500_clover | 2 +- docs/en/parameters.md | 2 +- docs/ru/parameters.md | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/clover_simulation/airframes/4500_clover b/clover_simulation/airframes/4500_clover index 0039c50d..57c7ca81 100644 --- a/clover_simulation/airframes/4500_clover +++ b/clover_simulation/airframes/4500_clover @@ -31,7 +31,7 @@ param set-default EKF2_OF_DELAY 0 param set-default EKF2_OF_QMIN 10 param set-default EKF2_OF_N_MIN 0.05 param set-default EKF2_OF_N_MAX 0.2 -param set-default EKF2_HGT_MODE 2 # 0 = baro, 1 = gps, 2 = range, 3 = vision +param set-default EKF2_HGT_MODE 3 # 0 = baro, 1 = gps, 2 = range, 3 = vision param set-default EKF2_EVA_NOISE 0.1 param set-default EKF2_EVP_NOISE 0.1 param set-default EKF2_EV_DELAY 0 diff --git a/docs/en/parameters.md b/docs/en/parameters.md index 6bf4b2d3..fc0c2a47 100644 --- a/docs/en/parameters.md +++ b/docs/en/parameters.md @@ -44,7 +44,7 @@ In case of using EKF2 (official firmware): |`EKF2_OF_QMIN`|10|| |`EKF2_OF_N_MIN`|0.05|| |`EKF2_OF_N_MAX`|0.2|| -|`EKF2_HGT_MODE`|2 (*Range sensor*)|If the [rangefinder](laser.md) is present and flying over horizontal floor| +|`EKF2_HGT_MODE`|3 (*Vision*)|If the [rangefinder](laser.md) is present and flying over horizontal floor – 2 (*Range sensor*)| |`EKF2_EVA_NOISE`|0.1|| |`EKF2_EVP_NOISE`|0.1|| |`EKF2_EV_DELAY`|0|| diff --git a/docs/ru/parameters.md b/docs/ru/parameters.md index 089a3742..4af73524 100644 --- a/docs/ru/parameters.md +++ b/docs/ru/parameters.md @@ -44,7 +44,7 @@ |`EKF2_OF_QMIN`|10|| |`EKF2_OF_N_MIN`|0.05|| |`EKF2_OF_N_MAX`|0.2|| -|`EKF2_HGT_MODE`|2 (*Range sensor*)|При наличии [дальномера](laser.md) и полете над ровным полом| +|`EKF2_HGT_MODE`|3 (*Vision*)|При наличии [дальномера](laser.md) и полете над ровным полом — 2 (*Range sensor*)| |`EKF2_EVA_NOISE`|0.1|| |`EKF2_EVP_NOISE`|0.1|| |`EKF2_EV_DELAY`|0||