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Pr crazyflie optflow fix #9514

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merged 2 commits into from
May 23, 2018
Merged

Pr crazyflie optflow fix #9514

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33122c3
crazyflie: pmw3901 driver publish gyro equal to NAN for optflow estim…
May 23, 2018
fae15a5
crazyflie: updated default params in config file
May 23, 2018
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69 changes: 41 additions & 28 deletions ROMFS/px4fmu_common/init.d/4900_crazyflie
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Original file line number Diff line number Diff line change
Expand Up @@ -14,39 +14,52 @@
#
# @maintainer Dennis Shtatov <[email protected]>
#

sh /etc/init.d/4001_quad_x


if [ $AUTOCNF == yes ]
then
param set COM_RC_IN_MODE 2
param set BAT_N_CELLS 1
param set BAT_CAPACITY 240
param set BAT_SOURCE 1

param set PWM_DISARMED 0
param set PWM_MIN 0
param set PWM_MAX 255

param set SYS_COMPANION 20

param set MC_PITCHRATE_D 0.0015
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_P 0.045
param set MC_PITCH_P 6.5
param set MC_ROLLRATE_D 0.0015
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_P 0.045
param set MC_ROLL_P 6.5
param set MC_YAW_P 3.0

param set CBRK_SUPPLY_CHK 894281
param set CBRK_USB_CHK 197848
param set COM_RC_IN_MODE 1
param set BAT_N_CELLS 1
param set BAT_CAPACITY 240
param set BAT_SOURCE 1
param set PWM_DISARMED 0
param set PWM_MIN 0
param set PWM_MAX 255
param set SYS_COMPANION 20
param set MC_PITCHRATE_D 0.002
param set MC_PITCHRATE_I 0.2
param set MC_PITCHRATE_P 0.07
param set MC_PITCH_P 6.5
param set MC_ROLLRATE_D 0.002
param set MC_ROLLRATE_I 0.2
param set MC_ROLLRATE_P 0.07
param set MC_ROLL_P 6.5
param set MC_YAW_P 3.0
param set EKF2_HGT_MODE 2
param set EKF2_AID_MASK 3
param set EKF2_OF_DELAY 10
param set MPC_THR_HOVER 0.7
param set MPC_MANTHR_MAX 1.0
param set MPC_THR_MAX 1.0
param set MPC_Z_P 1.5
param set MPC_Z_VEL_I 0.3
param set MPC_Z_VEL_P 0.4
param set MPC_HOLD_MAX_XY 0.1
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Minor suggestion, sorting these alphabetically and splitting roughly by group makes this a bit easier to read or change.

param set MPC_MAX_FLOW_HGT 3
param set IMU_GYRO_CUTOFF 100
param set IMU_ACCEL_CUTOFF 30
param set MC_DTERM_CUTOFF 70
param set SYS_FMU_TASK 1
param set CBRK_SUPPLY_CHK 894281
param set CBRK_USB_CHK 197848
param set SDLOG_PROFILE 1
param set EKF2_MAG_TYPE 1
param set EKF2_ABL_LIM 2.0
param set MC_AIRMODE 1
param set NAV_RCL_ACT 3
param set SENS_FLOW_MINRNG 0.05
fi

set PWM_MIN none
set PWM_MAX none
set PWM_DISARMED none
# Will run the motors at 328.125 kHz (recommended)
set PWM_RATE 3921
set PWM_RATE 3921
5 changes: 5 additions & 0 deletions src/drivers/pmw3901/pmw3901.cpp
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Expand Up @@ -589,6 +589,11 @@ PMW3901::collect()
report.sensor_id = 0;
report.quality = 255;

/* No gyro on this board */
report.gyro_x_rate_integral = NAN;
report.gyro_y_rate_integral = NAN;
report.gyro_z_rate_integral = NAN;

_flow_dt_sum_usec = 0;
_flow_sum_x = 0;
_flow_sum_y = 0;
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