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To experience enhanced flight method by quaternion,
I've changed the makefile to below description, but the flow deck doesn't works with one assert.
(Flow deck and loco position deck are the only using decks on cf2)
(Since both estimator_complementary.c and controller_mellinger.c had quaternion based codes, I compiled both.)
Line 29~36
Code: Select all
######### Stabilizer configuration ##########
##### Sets the name of the stabilizer module to use.
ESTIMATOR ?= complementary
CONTROLLER ?= mellinger
#pid
POWER_DISTRIBUTION ?= stock
SENSORS ?= cf2
Code: Select all
DECK_CORE: Deck 1 test [FAIL].
SYS: Assert failed at src/modules/src/estimator_kalman.c:1398