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28 lines
546 B
28 lines
546 B
#!/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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