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AHRS: default EKF on for copter

This commit is contained in:
Randy Mackay 2014-12-01 17:23:54 +09:00
parent 053c5054f3
commit 9e731550fd
2 changed files with 8 additions and 1 deletions
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2
libraries/AP_AHRS/AP_AHRS.cpp
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@ -117,7 +117,7 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] PROGMEM = {
// @Description: This controls whether the NavEKF Kalman filter is used for attitude and position estimation
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
AP_GROUPINFO("EKF_USE", 13, AP_AHRS, _ekf_use, 0),
AP_GROUPINFO("EKF_USE", 13, AP_AHRS, _ekf_use, AHRS_EKF_USE_DEFAULT),
#endif
AP_GROUPEND

7
libraries/AP_AHRS/AP_AHRS.h
View File

@ -31,6 +31,13 @@
#include <AP_Baro.h>
#include <AP_Param.h>
// Copter defaults to EKF on by default, all others off
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
#define AHRS_EKF_USE_DEFAULT 1
#else
#define AHRS_EKF_USE_DEFAULT 0
#endif
#define AP_AHRS_TRIM_LIMIT 10.0f // maximum trim angle in degrees
#define AP_AHRS_RP_P_MIN 0.05f // minimum value for AHRS_RP_P parameter
#define AP_AHRS_YAW_P_MIN 0.05f // minimum value for AHRS_YAW_P parameter