ROMFS: prevent high accel bias in SITL

2019-12-03 22:27:53 +01:00 · 2019-12-03 22:27:53 +01:00 · 81809d8234
parent 3a228622b9
commit 81809d8234
1 changed files with 4 additions and 0 deletions
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@ -140,6 +140,10 @@ then
 	param set EKF2_ANGERR_INIT 0.01
 	param set EKF2_HGT_MODE 0
 	param set EKF2_GBIAS_INIT 0.01
+
+	# Prevent high accel bias
+	param set COM_ARM_EKF_AB 0.005
+
 	# Speedup SITL startup
 	param set EKF2_REQ_GPS_H 0.5