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attitude_estimator_q: disable ATT_ACC_COMP by default 

Improves tracking in the CI test, and I always disabled it on my vehicles
as well.
This commit is contained in:
Beat Küng 2023-08-08 11:32:56 +02:00 committed by Daniel Agar
parent 57297234e2
commit ae70f9c640
8 changed files with 13 additions and 26 deletions
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5
boards/diatone/mamba-f405-mk2/init/rc.board_defaults
View File

@ -11,8 +11,7 @@ param set-default CBRK_IO_SAFETY 22027
# use the Q attitude estimator, it works w/o mag or GPS.
param set-default SYS_MC_EST_GROUP 3
param set-default ATT_ACC_COMP 0
param set-default ATT_W_ACC 0.4000
param set-default ATT_W_GYRO_BIAS 0.0000
param set-default ATT_W_ACC 0.4
param set-default ATT_W_GYRO_BIAS 0
param set-default SYS_HAS_MAG 0

5
boards/flywoo/gn-f405/init/rc.board_defaults
View File

@ -17,9 +17,8 @@ param set-default SYS_MC_EST_GROUP 2
param set-default EKF2_MAG_TYPE 5
param set-default SENS_BOARD_ROT 6
param set-default ATT_ACC_COMP 0
param set-default ATT_W_ACC 0.4000
param set-default ATT_W_GYRO_BIAS 0.0000
param set-default ATT_W_ACC 0.4
param set-default ATT_W_GYRO_BIAS 0
param set-default SYS_HAS_MAG 0

5
boards/holybro/kakutef7/init/rc.board_defaults
View File

@ -14,9 +14,8 @@ param set-default SYS_AUTOSTART 4050
# use the Q attitude estimator, it works w/o mag or GPS.
param set-default SYS_MC_EST_GROUP 3
param set-default ATT_ACC_COMP 0
param set-default ATT_W_ACC 0.4000
param set-default ATT_W_GYRO_BIAS 0.0000
param set-default ATT_W_ACC 0.4
param set-default ATT_W_GYRO_BIAS 0
param set-default SYS_HAS_MAG 0

5
boards/holybro/kakuteh7/init/rc.board_defaults
View File

@ -24,9 +24,8 @@ param set-default SYS_AUTOSTART 4050
# use the Q attitude estimator, it works w/o mag or GPS.
param set-default SYS_MC_EST_GROUP 3
param set-default ATT_ACC_COMP 0
param set-default ATT_W_ACC 0.4000
param set-default ATT_W_GYRO_BIAS 0.0000
param set-default ATT_W_ACC 0.4
param set-default ATT_W_GYRO_BIAS 0
param set-default SYS_HAS_MAG 0

5
boards/omnibus/f4sd/init/rc.board_defaults
View File

@ -14,8 +14,7 @@ param set-default CBRK_IO_SAFETY 22027
# use the Q attitude estimator, it works w/o mag or GPS.
param set-default SYS_MC_EST_GROUP 3
param set-default ATT_ACC_COMP 0
param set-default ATT_W_ACC 0.4000
param set-default ATT_W_GYRO_BIAS 0.0000
param set-default ATT_W_ACC 0.4
param set-default ATT_W_GYRO_BIAS 0
param set-default SYS_HAS_MAG 0

7
boards/raspberrypi/pico/init/rc.board_defaults
View File

@ -12,10 +12,3 @@ param set-default CBRK_SUPPLY_CHK 894281
# Disable safety switch by default
param set-default CBRK_IO_SAFETY 22027
# use the Q attitude estimator, it works w/o mag or GPS.
# param set-default SYS_MC_EST_GROUP 3
# param set-default ATT_ACC_COMP 0
# param set-default ATT_W_ACC 0.4000
# param set-default ATT_W_GYRO_BIAS 0.0000
# param set-default SYS_HAS_MAG 0

5
boards/spracing/h7extreme/init/rc.board_defaults
View File

@ -14,8 +14,7 @@ param set-default SYS_AUTOSTART 4050
# use the Q attitude estimator, it works w/o mag or GPS.
param set-default SYS_MC_EST_GROUP 3
param set-default ATT_ACC_COMP 0
param set-default ATT_W_ACC 0.4000
param set-default ATT_W_GYRO_BIAS 0.0000
param set-default ATT_W_ACC 0.4
param set-default ATT_W_GYRO_BIAS 0
param set-default SYS_HAS_MAG 0

2
src/modules/attitude_estimator_q/attitude_estimator_q_params.c
View File

@ -122,7 +122,7 @@ PARAM_DEFINE_INT32(ATT_EXT_HDG_M, 0);
* @group Attitude Q estimator
* @boolean
*/
PARAM_DEFINE_INT32(ATT_ACC_COMP, 1);
PARAM_DEFINE_INT32(ATT_ACC_COMP, 0);
/**
* Gyro bias limit