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ROMFS: rc.simulator EKF2 setup specific to gazebo classic

This commit is contained in:
Daniel Agar 2024-02-09 10:43:09 -05:00
parent 0c099f2b56
commit b8714f8980
2 changed files with 6 additions and 4 deletions
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6
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
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@ -167,6 +167,12 @@ elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)"
else else
# otherwise start simulator (mavlink) module # otherwise start simulator (mavlink) module
# EKF2 specifics
param set-default EKF2_GPS_DELAY 10
param set-default EKF2_MULTI_IMU 3
param set-default SENS_IMU_MODE 0
simulator_tcp_port=$((4560+px4_instance)) simulator_tcp_port=$((4560+px4_instance))
# Check if PX4_SIM_HOSTNAME environment variable is empty # Check if PX4_SIM_HOSTNAME environment variable is empty

4
ROMFS/px4fmu_common/init.d-posix/rcS
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@ -164,10 +164,6 @@ param set-default COM_RC_IN_MODE 1
# Speedup SITL startup # Speedup SITL startup
param set-default EKF2_REQ_GPS_H 0.5 param set-default EKF2_REQ_GPS_H 0.5
# Multi-EKF
param set-default EKF2_MULTI_IMU 3
param set-default SENS_IMU_MODE 0
param set-default IMU_GYRO_FFT_EN 1 param set-default IMU_GYRO_FFT_EN 1
param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets