From f68f26e75d354ea67ec05558b9b2e1d7a8c48975 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 27 Nov 2020 14:11:33 +0900 Subject: [PATCH] Tools: Copter.VisionPosition config for EKF3 --- Tools/autotest/arducopter.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index 60539c3a17..aa80ced62b 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -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()