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Make INAV configurable

This commit is contained in:
Lorenz Meier 2015-03-01 18:05:22 +01:00
parent 8831e258b3
commit f3b0b41a0d
2 changed files with 23 additions and 4 deletions
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13
ROMFS/px4fmu_common/init.d/rc.mc_apps
View File

@ -4,10 +4,15 @@
# att & pos estimator, att & pos control.
#
# previously (2014) the system was relying on
#attitude_estimator_ekf start
#position_estimator_inav start
ekf_att_pos_estimator start
# previously (2014) the system was relying on
# INAV, which defaults to 0 now.
if param compare INAV_ENABLED 1
then
attitude_estimator_ekf start
position_estimator_inav start
else
ekf_att_pos_estimator start
fi
if mc_att_control start
then

14
src/modules/position_estimator_inav/position_estimator_inav_params.c
View File

@ -288,6 +288,20 @@ PARAM_DEFINE_FLOAT(INAV_DELAY_GPS, 0.2f);
*/
PARAM_DEFINE_INT32(CBRK_NO_VISION, 0);
/**
* INAV enabled
*
* If set to 1, use INAV for position estimation
* the system uses the compined attitude / position
* filter framework.
*
* @min 0.0
* @max 1.0
* @unit s
* @group Position Estimator INAV
*/
PARAM_DEFINE_INT32(INAV_ENABLED, 0);
int parameters_init(struct position_estimator_inav_param_handles *h)
{
h->w_z_baro = param_find("INAV_W_Z_BARO");