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update param docs, change default back to old ekf for inav based estimation

This commit is contained in:
Andreas Antener 2015-05-06 11:37:02 +02:00
parent 9892f12d2e
commit 95803a774a
3 changed files with 18 additions and 8 deletions
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8
ROMFS/px4fmu_common/init.d/rc.mc_apps
View File

@ -9,10 +9,10 @@
# filter by setting INAV_ENABLED = 0
if param compare INAV_ENABLED 1
then
# The system is defaulting to EKF_ATT_ENABLED = 0
# and uses the new quaternion based complimentary
# filter. However users can enable the older EKF
# filter if they choose to.
# The system is defaulting to EKF_ATT_ENABLED = 1
# and uses the older EKF filter. However users can
# enable the new quaternion based complimentary
# filter by setting EKF_ATT_ENABLED = 0.
if param compare EKF_ATT_ENABLED 1
then
attitude_estimator_ekf start

14
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
View File

@ -94,8 +94,18 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V4_R1, 10000.0f);
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f);
/* magnetic declination, in degrees */
PARAM_DEFINE_INT32(EKF_ATT_ENABLED, 0);
/**
* EKF attitude estimator enabled
*
* If enabled, it uses the older EKF filter.
* However users can enable the new quaternion
* based complimentary filter by setting EKF_ATT_ENABLED = 0.
*
* @min 0
* @max 1
* @group Attitude EKF estimator
*/
PARAM_DEFINE_INT32(EKF_ATT_ENABLED, 1);
/* magnetic declination, in degrees */
PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f);

4
src/modules/position_estimator_inav/position_estimator_inav_params.c
View File

@ -291,8 +291,8 @@ PARAM_DEFINE_INT32(CBRK_NO_VISION, 0);
/**
* INAV enabled
*
* If set to 1, use INAV for position estimation
* the system uses the combined attitude / position
* If set to 1, use INAV for position estimation.
* Else the system uses the combined attitude / position
* filter framework.
*
* @min 0