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SYS_MC_EST_GROUP: add q-estimator option #12197

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merged 4 commits into from
Jun 6, 2019
+24 −29
Merged

SYS_MC_EST_GROUP: add q-estimator option #12197

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64af812
omnibus rc.board_defaults: remove flash-based params transition logic
bkueng Jun 6, 2019
89e4d83
SYS_MC_EST_GROUP: add q estimator only option and activate on omnibus
bkueng Jun 6, 2019
493bcd8
aerofc rc.board_defaults: remove wrong parameter settings
bkueng Jun 6, 2019
a54fc95
omnibus: enable dmesg buffer (3kb)
bkueng Jun 6, 2019
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4 changes: 3 additions & 1 deletion ROMFS/px4fmu_common/init.d-posix/rcS
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Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,9 @@ fi


# Use environment variable PX4_ESTIMATOR to choose estimator.
if [ "$PX4_ESTIMATOR" = "ekf2" ]; then
if [ "$PX4_ESTIMATOR" = "q" ]; then
param set SYS_MC_EST_GROUP 3
elif [ "$PX4_ESTIMATOR" = "ekf2" ]; then
param set SYS_MC_EST_GROUP 2
elif [ "$PX4_ESTIMATOR" = "lpe" ]; then
param set SYS_MC_EST_GROUP 1
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14 changes: 11 additions & 3 deletions ROMFS/px4fmu_common/init.d/rc.mc_apps
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Expand Up @@ -30,10 +30,18 @@ then
fi
else
#
# EKF2
# Q estimator (attitude estimation only)
#
param set SYS_MC_EST_GROUP 2
ekf2 start
if param compare SYS_MC_EST_GROUP 3
then
attitude_estimator_q start
else
#
# EKF2
#
param set SYS_MC_EST_GROUP 2
ekf2 start
fi
fi

###############################################################################
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15 changes: 0 additions & 15 deletions boards/intel/aerofc-v1/init/rc.board_defaults
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Expand Up @@ -13,21 +13,6 @@ fi
# other configurations.
param set SYS_AUTOSTART 4070

if [ $AUTOCNF = yes ]
then
# Disable safety switch by default
param set CBRK_IO_SAFETY 22027

# use the Q attitude estimator, it works w/o mag or GPS.
param set SYS_MC_EST_GROUP 1
param set ATT_ACC_COMP 0
param set ATT_W_ACC 0.4000
param set ATT_W_GYRO_BIAS 0.0000

param set SYS_HAS_MAG 0
fi


set DATAMAN_OPT -i
set LOGGER_ARGS "-m mavlink"
set MIXER_AUX none
1 change: 1 addition & 0 deletions boards/omnibus/f4sd/default.cmake
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Expand Up @@ -72,6 +72,7 @@ px4_add_board(

SYSTEMCMDS
#bl_update
dmesg
config
dumpfile
esc_calib
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13 changes: 5 additions & 8 deletions boards/omnibus/f4sd/init/rc.board_defaults
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Expand Up @@ -4,23 +4,20 @@
#------------------------------------------------------------------------------


# transition from params file to flash-based params (2018-12-20)
if [ -f $PARAM_FILE ]
# transition from LPE+Q to Q estimator (2019-06-05)
if param compare SYS_MC_EST_GROUP 1
then
param load $PARAM_FILE
param save
# create a backup
mv $PARAM_FILE ${PARAM_FILE}.bak
reboot
param set SYS_MC_EST_GROUP 3
fi


if [ $AUTOCNF = yes ]
then
# Disable safety switch by default
param set CBRK_IO_SAFETY 22027

# use the Q attitude estimator, it works w/o mag or GPS.
param set SYS_MC_EST_GROUP 1
param set SYS_MC_EST_GROUP 3
param set ATT_ACC_COMP 0
param set ATT_W_ACC 0.4000
param set ATT_W_GYRO_BIAS 0.0000
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3 changes: 3 additions & 0 deletions boards/omnibus/f4sd/src/board_config.h
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Expand Up @@ -264,6 +264,9 @@

#define BOARD_HAS_ON_RESET 1

#define BOARD_ENABLE_CONSOLE_BUFFER
#define BOARD_CONSOLE_BUFFER_SIZE (1024*3)

__BEGIN_DECLS

/****************************************************************************************************
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3 changes: 1 addition & 2 deletions src/lib/systemlib/system_params.c
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Expand Up @@ -102,9 +102,8 @@ PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2);
*
* @value 1 local_position_estimator, attitude_estimator_q (unsupported)
* @value 2 ekf2 (recommended)
* @value 3 Q attitude estimator (no position)
*
* @min 1
* @max 2
* @reboot_required true
* @group System
*/
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