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[BACKPORT v1.14] KakutesH7/H7v2/H7mini: use EKF2 #22828

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merged 2 commits into from
Mar 5, 2024
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[BACKPORT v1.14] KakutesH7/H7v2/H7mini: use EKF2 #22828

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51822f1
kakuteh7: use EKF2 by default
julianoes Aug 14, 2023
16755d0
kakute: disable some EKF2 features
julianoes Aug 20, 2023
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6 changes: 6 additions & 0 deletions boards/holybro/kakuteh7/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,12 @@ CONFIG_MODULES_COMMANDER=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_DATAMAN=y
CONFIG_MODULES_EKF2=y
# CONFIG_EKF2_AUXVEL is not set
# CONFIG_EKF2_BARO_COMPENSATION is not set
# CONFIG_EKF2_DRAG_FUSION is not set
# CONFIG_EKF2_EXTERNAL_VISION is not set
# CONFIG_EKF2_GNSS_YAW is not set
# CONFIG_EKF2_SIDESLIP is not set
CONFIG_MODULES_ESC_BATTERY=y
CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
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9 changes: 3 additions & 6 deletions boards/holybro/kakuteh7/init/rc.board_defaults
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Expand Up @@ -22,13 +22,10 @@ param set-default CBRK_SUPPLY_CHK 894281
# Select the Generic 250 Racer by default
param set-default SYS_AUTOSTART 4050

# use the Q attitude estimator, it works w/o mag or GPS.
param set-default SYS_MC_EST_GROUP 3
param set-default ATT_ACC_COMP 0
param set-default ATT_W_ACC 0.4000
param set-default ATT_W_GYRO_BIAS 0.0000

# use EKF2 without mag
param set-default SYS_HAS_MAG 0
# and enable gravity fusion
param set-default EKF2_IMU_CONTROL 7

# the startup tune is not great on a binary output buzzer, so disable it
param set-default CBRK_BUZZER 782090
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6 changes: 6 additions & 0 deletions boards/holybro/kakuteh7mini/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,12 @@ CONFIG_MODULES_COMMANDER=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_DATAMAN=y
CONFIG_MODULES_EKF2=y
# CONFIG_EKF2_AUXVEL is not set
# CONFIG_EKF2_BARO_COMPENSATION is not set
# CONFIG_EKF2_DRAG_FUSION is not set
# CONFIG_EKF2_EXTERNAL_VISION is not set
# CONFIG_EKF2_GNSS_YAW is not set
# CONFIG_EKF2_SIDESLIP is not set
CONFIG_MODULES_ESC_BATTERY=y
CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
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6 changes: 6 additions & 0 deletions boards/holybro/kakuteh7v2/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,12 @@ CONFIG_MODULES_COMMANDER=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_DATAMAN=y
CONFIG_MODULES_EKF2=y
# CONFIG_EKF2_AUXVEL is not set
# CONFIG_EKF2_BARO_COMPENSATION is not set
# CONFIG_EKF2_DRAG_FUSION is not set
# CONFIG_EKF2_EXTERNAL_VISION is not set
# CONFIG_EKF2_GNSS_YAW is not set
# CONFIG_EKF2_SIDESLIP is not set
CONFIG_MODULES_ESC_BATTERY=y
CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
Expand Down
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