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3drobotics / ardupilot-solo

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Enable selection of preferred IMU EKF for gyro data #275

Closed priseborough closed 7 years ago

priseborough commented 7 years ago

https://3drsolo.atlassian.net/browse/IG-1678

This PR adds a parameter EKF_GYR_SELECT which enables which IMU's will be used by the EKF. The default value of 0 uses both which is the same as previous behaviour. A value of 1 will use IMU1 only and a value of 2 will use IMU2 only. Any other value will use both. If the selected IMU is unhealthy, then it will revert to the primary/healthy sensor.

It has been bench tested and has had a short flight in stabilise.

wsilva32 commented 7 years ago

Shelving this PR for now until we have a better concept of which IMU is unhealthy and why.