From 8afb8799646850a89bcd721053dd63e1d8158cb1 Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Wed, 9 Nov 2022 05:45:55 +0530 Subject: [PATCH] AP_HAL_ChibiOS: make EKF running on second IMU primary --- libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-ODID/defaults.parm | 2 ++ .../hwdef/CubeOrange-SimOnHardWare/defaults.parm | 3 +++ libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/defaults.parm | 2 ++ libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/defaults.parm | 2 ++ 4 files changed, 9 insertions(+) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-ODID/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-ODID/defaults.parm index b5346ded41..e79aa27e5d 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-ODID/defaults.parm +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-ODID/defaults.parm @@ -20,3 +20,5 @@ AHRS_EKF_TYPE 3 @READONLY GPS_TYPE 1 GPS_TYPE2 0 +EK2_PRIMARY 1 +EK3_PRIMARY 1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-SimOnHardWare/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-SimOnHardWare/defaults.parm index 9c1824090a..705dee7dc4 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-SimOnHardWare/defaults.parm +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-SimOnHardWare/defaults.parm @@ -56,3 +56,6 @@ SCHED_LOOP_RATE 400 BRD_RTC_TYPES 2 BRD_OPTIONS 9 + +EK2_PRIMARY 1 +EK3_PRIMARY 1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/defaults.parm index c696210948..376ba2763c 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/defaults.parm +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/defaults.parm @@ -47,3 +47,5 @@ SCR_ENABLE 1 @READONLY SCR_DIR_DISABLE 0 @READONLY BRD_HEAT_I 0.07 @READONLY BRD_HEAT_P 50 @READONLY +EK2_PRIMARY 1 @READONLY +EK3_PRIMARY 1 @READONLY diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/defaults.parm index 05d30c8e6f..fdb083659e 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/defaults.parm +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/defaults.parm @@ -9,3 +9,5 @@ BATT2_VOLT_MULT 12.02 ADSB_TYPE 1 SERIAL5_BAUD 57 SERIAL5_PROTOCOL 1 +EK2_PRIMARY 1 +EK3_PRIMARY 1