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Aruco Code and UVG/UAV Logic Fixes

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SirBlobby
2026-02-20 12:19:44 -05:00
parent 50ef3f0490
commit e2f805f3f3
22 changed files with 667 additions and 1143 deletions
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15
config/ardupilot_gps_denied.parm
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@@ -68,7 +68,7 @@ FS_GCS_ENABLE 0
# ====================
# Logging
# ====================
LOG_BITMASK 176126
LOG_BITMASK 0
LOG_DISARMED 0
# ====================
@@ -76,3 +76,16 @@ LOG_DISARMED 0
# ====================
LAND_SPEED 150 # Final descent cm/s (default 50)
LAND_SPEED_HIGH 250 # Initial descent cm/s (default 0=WPNAV_SPEED_DN)
# ====================
# SITL Fast Startup
# ====================
# These MUST be in the .parm file (loaded at boot), not set via MAVLink
GPS_HDOP_GOOD 250 # Accept worse GPS quality (default 140)
EK3_CHECK_SCALE 200 # Relax EKF health checks (default 100)
EK3_GPS_CHECK 0 # Disable GPS preflight checks entirely in SITL
EK3_POSNE_M_NSE 0.5 # Trust GPS position more (default 0.5)
EK3_VELD_M_NSE 0.2 # Trust GPS vertical vel more (default 0.4)
EK3_VELNE_M_NSE 0.1 # Trust GPS horizontal vel more (default 0.3)
INS_GYRO_CAL 0 # Skip gyro calibration on boot (SITL only)
AHRS_GPS_MINSATS 6 # Minimum satellites