From cd7c217f982b3b67259f2419d7dd1b444418135f Mon Sep 17 00:00:00 2001 From: Willian Galvani Date: Fri, 30 Jan 2026 13:18:51 -0300 Subject: [PATCH 1/2] parmas: Rover 4.6: set vertical position source to GPS --- params/ardupilot/ArduRover/4.6/Navigator/BlueBoat120.params | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/params/ardupilot/ArduRover/4.6/Navigator/BlueBoat120.params b/params/ardupilot/ArduRover/4.6/Navigator/BlueBoat120.params index a68ff74..b99b7ea 100644 --- a/params/ardupilot/ArduRover/4.6/Navigator/BlueBoat120.params +++ b/params/ardupilot/ArduRover/4.6/Navigator/BlueBoat120.params @@ -290,7 +290,7 @@ EK3_RNG_M_NSE 0.5 EK3_RNG_USE_HGT -1 EK3_RNG_USE_SPD 2 EK3_SRC1_POSXY 3 -EK3_SRC1_POSZ 1 +EK3_SRC1_POSZ 3 EK3_SRC1_VELXY 3 EK3_SRC1_VELZ 3 EK3_SRC1_YAW 1 From d9e6e9eeb8df440e2c50cda6899f805e7d62dbf7 Mon Sep 17 00:00:00 2001 From: Willian Galvani Date: Fri, 30 Jan 2026 13:18:56 -0300 Subject: [PATCH 2/2] parmas: Rover 4.6: set gps and ins position for BlueBoat --- .../ArduRover/4.6/Navigator/BlueBoat120.params | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/params/ardupilot/ArduRover/4.6/Navigator/BlueBoat120.params b/params/ardupilot/ArduRover/4.6/Navigator/BlueBoat120.params index b99b7ea..552d18b 100644 --- a/params/ardupilot/ArduRover/4.6/Navigator/BlueBoat120.params +++ b/params/ardupilot/ArduRover/4.6/Navigator/BlueBoat120.params @@ -358,9 +358,9 @@ GPS1_COM_PORT 1 GPS1_DELAY_MS 0 GPS1_GNSS_MODE 0 GPS1_MB_TYPE 0 -GPS1_POS_X 0 -GPS1_POS_Y 0 -GPS1_POS_Z 0 +GPS1_POS_X 0.16 +GPS1_POS_Y 0.365 +GPS1_POS_Z -0.22 GPS1_RATE_MS 200 GPS1_TYPE 1 GPS2_TYPE 0 @@ -426,9 +426,9 @@ INS_LOG_BAT_LGCT 32 INS_LOG_BAT_LGIN 20 INS_LOG_BAT_MASK 0 INS_LOG_BAT_OPT 0 -INS_POS1_X 0 -INS_POS1_Y 0 -INS_POS1_Z 0 +INS_POS1_X 0.16 +INS_POS1_Y 0.365 +INS_POS1_Z -0.12 INS_POS2_X 0 INS_POS2_Y 0 INS_POS2_Z 0