startup remove old EKF PE_ params (#5533)

8 years ago · 6d655d2d6e
9 changed files with 0 additions and 39 deletions
--- a/ROMFS/px4fmu_common/init.d/15001_coax_heli
+++ b/ROMFS/px4fmu_common/init.d/15001_coax_heli
@ -17,11 +17,6 @@ set MIXER coax
				@@ -17,11 +17,6 @@ set MIXER coax

 if [ $AUTOCNF == yes ]
 then
-	param set PE_VELNE_NOISE 0.5
-	param set PE_VELD_NOISE 0.35
-	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.25
-
 	param set NAV_ACC_RAD 2.0
 	param set RTL_RETURN_ALT 30.0
 	param set RTL_DESCEND_ALT 10.0
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@ -17,11 +17,6 @@ then
				@@ -17,11 +17,6 @@ then
 	
 	param set MIS_LTRMIN_ALT 25
 	param set MIS_TAKEOFF_ALT 25
-
-	param set PE_VELNE_NOISE 0.3
-	param set PE_VELD_NOISE 0.35
-	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.0
 fi

 # This is the gimbal pass mixer
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@ -4,11 +4,6 @@ set VEHICLE_TYPE mc
				@@ -4,11 +4,6 @@ set VEHICLE_TYPE mc

 if [ $AUTOCNF == yes ]
 then
-	param set PE_VELNE_NOISE 0.5
-	param set PE_VELD_NOISE 0.35
-	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.25
-
 	param set NAV_ACC_RAD 2.0
 	param set RTL_RETURN_ALT 30.0
 	param set RTL_DESCEND_ALT 10.0
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
@ -8,12 +8,6 @@ then
				@@ -8,12 +8,6 @@ then
 	param set MC_PITCH_P 6.0
 	param set MC_YAW_P 4

-	param set PE_VELNE_NOISE 0.5
-	param set PE_VELD_NOISE 0.3
-	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.25
-	param set PE_ABIAS_PNOISE 0.0001
-
 	#
 	# Default parameters for mission and position handling
 	#
--- a/ROMFS/tap_common/init.d/rc.fw_defaults
+++ b/ROMFS/tap_common/init.d/rc.fw_defaults
@ -12,11 +12,6 @@ then
				@@ -12,11 +12,6 @@ then
 	param set RTL_LAND_DELAY -1

 	param set NAV_ACC_RAD 50
-
-	param set PE_VELNE_NOISE 0.3
-	param set PE_VELD_NOISE 0.35
-	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.0
 fi

 # This is the gimbal pass mixer
--- a/ROMFS/tap_common/init.d/rc.mc_defaults
+++ b/ROMFS/tap_common/init.d/rc.mc_defaults
@ -4,11 +4,6 @@ set VEHICLE_TYPE mc
				@@ -4,11 +4,6 @@ set VEHICLE_TYPE mc

 if [ $AUTOCNF == yes ]
 then
-	param set PE_VELNE_NOISE 0.5
-	param set PE_VELD_NOISE 0.35
-	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.25
-
 	param set PWM_DISARMED 900
 	param set PWM_MIN 1075
 	param set PWM_MAX 1950
--- a/ROMFS/tap_common/init.d/rc.vtol_defaults
+++ b/ROMFS/tap_common/init.d/rc.vtol_defaults
@ -8,12 +8,6 @@ then
				@@ -8,12 +8,6 @@ then
 	param set MC_PITCH_P 6.0
 	param set MC_YAW_P 4

-	param set PE_VELNE_NOISE 0.5
-	param set PE_VELD_NOISE 0.3
-	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.25
-	param set PE_ABIAS_PNOISE 0.0001
-
 	#
 	# Default parameters for mission and position handling
 	#
--- a/posix-configs/eagle/200qx/px4.config
+++ b/posix-configs/eagle/200qx/px4.config
@ -48,7 +48,6 @@ param set RC6_MIN 1099
				@@ -48,7 +48,6 @@ param set RC6_MIN 1099
 param set RC6_TRIM 1099
 param set RC6_REV 1
 param set ATT_W_MAG 0.00
-param set PE_MAG_NOISE 1.0f
 param set SENS_BOARD_ROT 0
 param set RC_RECEIVER_TYPE 1
 param set UART_ESC_MODEL 2
--- a/posix-configs/eagle/210qc/px4.config
+++ b/posix-configs/eagle/210qc/px4.config
@ -48,7 +48,6 @@ param set RC6_MIN 1099
				@@ -48,7 +48,6 @@ param set RC6_MIN 1099
 param set RC6_TRIM 1099
 param set RC6_REV 1
 param set ATT_W_MAG 0.00
-param set PE_MAG_NOISE 1.0f
 param set SENS_BOARD_ROT 0
 param set CAL_GYRO0_XOFF -0.0028
 param set CAL_GYRO0_YOFF -0.0047