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Added SYS_MC_EST_GROUP to allow fine grained algorithm selection.

This commit is contained in:
James Goppert 2016-04-14 15:22:25 -04:00
parent bdd6f8ee97
commit f73af95b38
5 changed files with 59 additions and 37 deletions
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32
ROMFS/px4fmu_common/init.d/rc.mc_apps
View File

@ -4,23 +4,31 @@
# att & pos estimator, att & pos control.
#
# The system is defaulting to INAV_ENABLED = 1
# but users can alternatively try the EKF-based
# filter by setting INAV_ENABLED = 0
if param compare INAV_ENABLED 1
#---------------------------------------
# Estimator group selction
#
# INAV
if param compare SYS_MC_EST_GROUP 0
then
attitude_estimator_q start
position_estimator_inav start
else
if param compare LPE_ENABLED 1
then
attitude_estimator_q start
local_position_estimator start
else
ekf2 start
fi
fi
# LPE
if param compare SYS_MC_EST_GROUP 1
then
attitude_estimator_q start
local_position_estimator start
fi
# EKF
if param compare SYS_MC_EST_GROUP 2
then
ekf2 start
fi
#---------------------------------------
if mc_att_control start
then
else

34
ROMFS/px4fmu_common/init.d/rc.vtol_apps
View File

@ -3,24 +3,34 @@
# Standard apps for vtol:
# att & pos estimator, att & pos control.
#
#
# The system is defaulting to INAV_ENABLED = 1
# but users can alternatively try the EKF-based
# filter by setting INAV_ENABLED = 0
if param compare INAV_ENABLED 1
#---------------------------------------
# Estimator group selction
#
# INAV
if param compare SYS_MC_EST_GROUP 0
then
attitude_estimator_q start
position_estimator_inav start
else
if param compare LPE_ENABLED 1
then
attitude_estimator_q start
local_position_estimator start
else
ekf2 start
fi
fi
# LPE
if param compare SYS_MC_EST_GROUP 1
then
attitude_estimator_q start
local_position_estimator start
fi
# EKF
if param compare SYS_MC_EST_GROUP 2
then
ekf2 start
fi
#---------------------------------------
vtol_att_control start
mc_att_control start
mc_pos_control start

12
src/modules/position_estimator_inav/position_estimator_inav_params.cpp
View File

@ -345,18 +345,6 @@ PARAM_DEFINE_FLOAT(INAV_LIDAR_OFF, 0.0f);
*/
PARAM_DEFINE_INT32(CBRK_NO_VISION, 0);
/**
* INAV enabled
*
* If set to 1, use INAV for position estimation.
* Else the system uses the combined attitude / position
* filter framework.
*
* @boolean
* @group Position Estimator INAV
*/
PARAM_DEFINE_INT32(INAV_ENABLED, 1);
int inav_parameters_init(struct position_estimator_inav_param_handles *h)
{
h->w_z_baro = param_find("INAV_W_Z_BARO");

2
src/modules/sensors/sensors.cpp
View File

@ -682,7 +682,7 @@ Sensors::Sensors() :
(void)param_find("PWM_AUX_DISARMED");
(void)param_find("TRIG_MODE");
(void)param_find("UAVCAN_ENABLE");
(void)param_find("LPE_ENABLED");
(void)param_find("SYS_MC_EST_GROUP");
/* fetch initial parameter values */
parameters_update();

16
src/modules/systemlib/system_params.c
View File

@ -82,6 +82,22 @@ PARAM_DEFINE_INT32(SYS_USE_IO, 1);
*/
PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2);
/**
* Set multicopter estimator group
*
* Set the group of estimators used for multicopters and vtols
*
* @value 0 position_estimator_inav, attitude_estimator_q
* @value 1 local_position_estimator, attitude_estimator_q
* @value 2 ekf2
*
* @min 0
* @max 2
* @reboot_required true
* @group System
*/
PARAM_DEFINE_INT32(SYS_MC_EST_GROUP, 0);
/**
* Companion computer interface
*