From 4e7f4dce908481fa004b45e7015078f32c75f2b0 Mon Sep 17 00:00:00 2001 From: Tomas Baca Date: Thu, 19 Oct 2023 16:51:42 +0200 Subject: [PATCH] updated px4 config --- docs/hardware/px4_configuration.md | 5 ++--- docs/software/rviz.md | 11 +++++++++++ 2 files changed, 13 insertions(+), 3 deletions(-) create mode 100644 docs/software/rviz.md diff --git a/docs/hardware/px4_configuration.md b/docs/hardware/px4_configuration.md index 248ec436..e5d1518b 100644 --- a/docs/hardware/px4_configuration.md +++ b/docs/hardware/px4_configuration.md @@ -128,7 +128,7 @@ More info: [https://dev.px4.io/master/en/middleware/modules_driver_distance_sens # Configuration -## Disabling/Enabling internal magnetometer +## Disabling/Enabling magnetometer Disable: `EKF2_MAG_TYPE := None` and `SYS_HAS_MAG := 0` @@ -140,5 +140,4 @@ When flying with external magnetometer, always set the lowest priority to the in Best is to only use the external magnetometer. This prevents jumps in heading odometry and avoids potential crashes as default fusion of both magnetometers was observed to be not reliable. Publish only the primary magnetometer: `SENS_MAG_MODE=Publish primary magnetometer` -Priorities setting: `CAL_MAG0_PRIO := Min` (internal) and `CAL_MAG1_PRIO := Max` (external) - +Priorities setting: `CAL_MAG0_PRIO := Disabled` (internal) and `CAL_MAG1_PRIO := Max` (external) diff --git a/docs/software/rviz.md b/docs/software/rviz.md new file mode 100644 index 00000000..28f6f6fe --- /dev/null +++ b/docs/software/rviz.md @@ -0,0 +1,11 @@ +--- +layout: default +title: Rviz +parent: Software +--- + +# How to with Rviz + +## Display satellite map in Rviz + +1. `sudo apt install ros-noetic-rviz-satellite`