Tools: Copter.VisionPosition config for EKF3

4 years ago · f68f26e75d
1 changed files with 4 additions and 1 deletions
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@ -2209,7 +2209,10 @@ class AutoTestCopter(AutoTest):
				@@ -2209,7 +2209,10 @@ class AutoTestCopter(AutoTest):
        ex = None
        try:
            self.set_parameter("GPS_TYPE", 0)
-            self.set_parameter("EK2_GPS_TYPE", 3)
+            self.set_parameter("EK3_SRC1_POSXY", 6)
+            self.set_parameter("EK3_SRC1_VELXY", 6)
+            self.set_parameter("EK3_SRC1_POSZ", 6)
+            self.set_parameter("EK3_SRC1_VELZ", 6)
            self.set_parameter("VISO_TYPE", 1)
            self.set_parameter("SERIAL5_PROTOCOL", 1)
            self.reboot_sitl()