From 9451d2285026de60e47f726dcfa7d39c886721c4 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 3 Jul 2015 14:54:25 +0200 Subject: [PATCH 1/2] Aerocore: Retire attitude-only EKF --- makefiles/config_aerocore_default.mk | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/makefiles/config_aerocore_default.mk b/makefiles/config_aerocore_default.mk index c906d54189..0ce01d499d 100644 --- a/makefiles/config_aerocore_default.mk +++ b/makefiles/config_aerocore_default.mk @@ -48,11 +48,12 @@ MODULES += modules/navigator MODULES += modules/mavlink # -# Estimation modules (EKF/ SO3 / other filters) +# Estimation modules (EKF / other filters) # -MODULES += modules/attitude_estimator_ekf -MODULES += modules/attitude_estimator_so3 +# Too high RAM usage due to static allocations +#MODULES += modules/attitude_estimator_ekf MODULES += modules/ekf_att_pos_estimator +MODULES += modules/attitude_estimator_q MODULES += modules/position_estimator_inav # From ecaa25ba1a9d6f1ac0f1df2de5b20355a6fb4b95 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 3 Jul 2015 14:55:53 +0200 Subject: [PATCH 2/2] FMUv2: Retire attitude only EKF --- makefiles/config_px4fmu-v2_default.mk | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index 7884b94cb0..0998ebf9f8 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -76,7 +76,8 @@ MODULES += modules/land_detector # # Estimation modules (EKF/ SO3 / other filters) # -MODULES += modules/attitude_estimator_ekf +# Too high RAM usage due to static allocations +#MODULES += modules/attitude_estimator_ekf MODULES += modules/attitude_estimator_q MODULES += modules/ekf_att_pos_estimator MODULES += modules/position_estimator_inav