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#!/bin/sh
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#
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# @name 3DR Iris Quadrotor SITL (Vision)
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#
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# @type Quadrotor Wide
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#
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sh /etc/init.d-posix/10016_iris
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if [ $AUTOCNF = yes ]
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then
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# EKF2: Vision position and heading
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param set EKF2_AID_MASK 24
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param set EKF2_EV_DELAY 5
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# INAV: trust more on the vision input
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param set INAV_W_XY_VIS_P 9
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param set INAV_W_Z_VIS_P 7
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param set INAV_W_XY_GPS_P 0
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param set INAV_W_XY_GPS_V 0
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param set INAV_W_Z_GPS_P 0
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# LPE: Vision + baro
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param set LPE_FUSION 132
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# AEQ: External heading set to use vision input
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param set ATT_EXT_HDG_M 1
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fi
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