* EKF2_AID_MASK:控制数据融合和辅助方法(定位数据来源)。单位:无,默认值:1,最小值:0,最大值:511。备注:bit0 -使用GPS,bit1 -使用光流,bit2 -禁止IMU偏差估计,bit3 -视觉位置融合,bit4 -视觉偏航融合,bit5 - multi-rotor drag fusion,bit6 - rotate external vision,bit7 - GPS偏航融合,bit8 -视...
EKF2参数 EKF2_AID_MASK 参数说明:控制数据融合和辅助方法(定位数据来源) 单位: 无 默认值:1 最小值:0 最大值:511 备注: bit0 - 使用GPS bit1 - 使用光流 bit2 - 禁止IMU偏差估计 bit3 - 视觉位置融合 bit4 - 视觉偏航融合 bit5 - multi-rotor drag fusion bit6 - rotate external vision bit7 ...
8: vision velocity fusion so I set 0 in "ekf2_aid_mask " ,I get gps info, I do not know why change this option? please revise this issue ,thank you px4 team!!
Volans 拥有者 5年前 设置成25的意思是EKF不仅使用Gps出来的位置信息 也会去使用板载计算机通过mavros发来的数据 ,这里面具体怎么计算的没有研究过 需要去研究源码的 hihi_hi 2年前 你好,我想请教一下EKF2_AID_MASK具体是在哪个文件设置的 登录 后才可以发表评论 状态...
edit rcS disable GPS localization and Barometer for height measurement, using Vision instead # GPS used #param set EKF2_AID_MASK 1 # Vision used and GPS denied param set EKF2_AID_MASK 24 # Barometer used for hight measurement #param set EKF2_HGT_MODE 0 ...
Hi. My quadrotor drifts significantly in position hold mode. Firmware version: stable v1.7.1 FCU: MindPX Using Lidar Lite v3. Works well for altitude stabilization EKF2 estimator. Disabled GPS in EKF2_AID_MASK and enabled optical flow fu...
I mostly worked with EKF_AID_MASK 321 (https://docs.px4.io/master/en/advanced_config/tuning_the_ecl_ekf.html#ekf2_extvis). For inspecting the data, I always used the ulog. There you can see both vehicle_visual_odometry and vehicle_visual_odometry_aligned. As well as all the innovation...
25 changes: 15 additions & 10 deletions 25 src/modules/ekf2/EKF/aid_sources/gnss/gps_checks.cpp Original file line numberDiff line numberDiff line change @@ -48,15 +48,16 @@ #include <mathlib/mathlib.h> // GPS pre-flight check bit locations #define MASK_GPS_NSATS (1<<0) #def...
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aid_sources/gnss gps_checks.cpp common.h ekf.h EKF2.cpp module.yaml 1 change: 1 addition & 0 deletions1msg/EstimatorGpsStatus.msg Original file line numberDiff line numberDiff line change Expand Up@@ -13,6 +13,7 @@ bool check_fail_max_horz_drift # 6 : maximum allowed horizontal pos...