From 95803a774aa4bedf2938b476db68d437e0b7a45d Mon Sep 17 00:00:00 2001 From: Andreas Antener Date: Wed, 6 May 2015 11:37:02 +0200 Subject: [PATCH] update param docs, change default back to old ekf for inav based estimation --- ROMFS/px4fmu_common/init.d/rc.mc_apps | 8 ++++---- .../attitude_estimator_ekf_params.c | 14 ++++++++++++-- .../position_estimator_inav_params.c | 4 ++-- 3 files changed, 18 insertions(+), 8 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_apps b/ROMFS/px4fmu_common/init.d/rc.mc_apps index 12049096a5..beb9891d2e 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_apps +++ b/ROMFS/px4fmu_common/init.d/rc.mc_apps @@ -9,10 +9,10 @@ # filter by setting INAV_ENABLED = 0 if param compare INAV_ENABLED 1 then - # The system is defaulting to EKF_ATT_ENABLED = 0 - # and uses the new quaternion based complimentary - # filter. However users can enable the older EKF - # filter if they choose to. + # The system is defaulting to EKF_ATT_ENABLED = 1 + # and uses the older EKF filter. However users can + # enable the new quaternion based complimentary + # filter by setting EKF_ATT_ENABLED = 0. if param compare EKF_ATT_ENABLED 1 then attitude_estimator_ekf start diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c index 7eb1baeae6..e981c6eb74 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -94,8 +94,18 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V4_R1, 10000.0f); */ PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f); -/* magnetic declination, in degrees */ -PARAM_DEFINE_INT32(EKF_ATT_ENABLED, 0); +/** + * EKF attitude estimator enabled + * + * If enabled, it uses the older EKF filter. + * However users can enable the new quaternion + * based complimentary filter by setting EKF_ATT_ENABLED = 0. + * + * @min 0 + * @max 1 + * @group Attitude EKF estimator + */ +PARAM_DEFINE_INT32(EKF_ATT_ENABLED, 1); /* magnetic declination, in degrees */ PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f); diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c index aedb478faa..96b12f9e09 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -291,8 +291,8 @@ PARAM_DEFINE_INT32(CBRK_NO_VISION, 0); /** * INAV enabled * - * If set to 1, use INAV for position estimation - * the system uses the combined attitude / position + * If set to 1, use INAV for position estimation. + * Else the system uses the combined attitude / position * filter framework. * * @min 0