ROMFS: Reset the estimator param to EKF2 if LPE fails to start

PX4 · Jun 4, 2017 · c9a28fc · c9a28fc
1 parent 69ba69f
commit c9a28fc
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Showing 3 changed files with 20 additions and 5 deletions.
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_apps b/ROMFS/px4fmu_common/init.d/rc.fw_apps
@@ -3,6 +3,15 @@
 # Standard apps for fixed wing
 #
 
+# LPE
+if param compare SYS_MC_EST_GROUP 1
+then
+	echo "ERROR [init] Estimator LPE not supported on fixed wing. Using EKF2"
+	param set SYS_MC_EST_GROUP 2
+	param save
+	ekf2 start
+fi
+
 #
 # Start the attitude and position estimator
 #

diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_apps b/ROMFS/px4fmu_common/init.d/rc.mc_apps
@@ -11,8 +11,8 @@
 # INAV (deprecated)
 if param compare SYS_MC_EST_GROUP 0
 then
-	echo "ERROR [init] Estimator INAV deprecated. Using LPE"
-	param set SYS_MC_EST_GROUP 1
+	echo "ERROR [init] Estimator INAV deprecated. Using EKF2"
+	param set SYS_MC_EST_GROUP 2
 	param save
 fi
 
@@ -25,6 +25,9 @@ then
 	then
 		local_position_estimator start
 	else
+		echo "ERROR [init] Estimator LPE not available. Using EKF2"
+		param set SYS_MC_EST_GROUP 2
+		param save
 		ekf2 start
 	fi
 fi

diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_apps b/ROMFS/px4fmu_common/init.d/rc.vtol_apps
@@ -12,20 +12,23 @@
 # INAV (deprecated)
 if param compare SYS_MC_EST_GROUP 0
 then
-	echo "ERROR [init] Estimator INAV deprecated. Using LPE"
-	param set SYS_MC_EST_GROUP 1
+	echo "ERROR [init] Estimator INAV deprecated. Using EKF2"
+	param set SYS_MC_EST_GROUP 2
 	param save
 fi
 
 # LPE
 if param compare SYS_MC_EST_GROUP 1
 then
 	# Try to start LPE. If it fails, start EKF2 as a default
-	# Unfortunately we do not build it on px4fmu-v2 duo to a limited flash.
+	# Unfortunately we do not build it on px4fmu-v2 due to a limited flash.
 	if attitude_estimator_q start
 	then
 		local_position_estimator start
 	else
+		echo "ERROR [init] Estimator LPE not available. Using EKF2"
+		param set SYS_MC_EST_GROUP 2
+		param save
 		ekf2 start
 	fi
 fi