ins_ekf2

simple INS and AHRS using EKF2 from PX4

Defines

Name	Value	Description
INS_EKF2_OPTITRACK	false	Easy configuration of full optitrack (position- and yaw fusion, height, init origin)
INS_EKF2_FUSION_MODE	(MASK_USE_GPS)	The sensor that are used for position fusion
INS_EKF2_VDIST_SENSOR_TYPE	VDIST_SENSOR_BARO	Primary sensor used for vertical distance
INS_EKF2_GPS_CHECK_MASK	(MASK_GPS_NSATS | MASK_GPS_HACC | MASK_GPS_SACC)	GPS checks enabled before initialization of the global positioning
INS_EKF2_EVP_NOISE	0.1	External vision position noise [m]
INS_EKF2_EVV_NOISE	1.0	External vision velocity noise [m/s]
INS_EKF2_EVA_NOISE	0.05	External vision angle noise [rad]
INS_EKF2_GPS_V_NOISE	0.3	GPS measurement noise for horizontal velocity [m/s]
INS_EKF2_GPS_P_NOISE	0.5	GPS measurement position noise [m]
INS_EKF2_BARO_NOISE	3.5	Barometric measurement noise for altitude [m]
INS_EKF2_IMU_POS_X	0	IMU X offset from CoG position [m]
INS_EKF2_IMU_POS_Y	0	IMU Y offset from CoG position [m]
INS_EKF2_IMU_POS_Z	0	IMU Z offset from CoG position [m]
INS_EKF2_GPS_POS_X	0	GPS X offset from CoG position [m]
INS_EKF2_GPS_POS_Y	0	GPS Y offset from CoG position [m]
INS_EKF2_GPS_POS_Z	0	GPS Z offset from CoG position [m]
INS_EKF2_FLOW_POS_X	0	Flow sensor X offset from CoG position [m]
INS_EKF2_FLOW_POS_Y	0	Flow sensor Y offset from CoG position [m]
INS_EKF2_FLOW_POS_Z	0	Flow sensor Z offset from CoG position [m]
INS_EKF2_SONAR_MIN_RANGE	0.05	AGL sensor minimum range [m]
INS_EKF2_SONAR_MAX_RANGE	3	AGL sensor maximum range [m]
INS_EKF2_RANGE_MAIN_AGL	1	If enabled uses radar sensor as primary AGL source, if possible
INS_EKF2_FLOW_SENSOR_DELAY	15	flow/radar message delay [ms]
INS_EKF2_MIN_FLOW_QUALITY	100	Minimum quality of the optical flow message accepted [0-255]
INS_EKF2_MAX_FLOW_RATE	20	Maximum flow rate the sensor can perceive [rad/sec]]
INS_EKF2_FLOW_NOISE	0.01	Flow sensor noise [rad/sec]
INS_EKF2_FLOW_NOISE_QMIN	0.03	Flow sensor noise when quality is minimum [rad/sec]
INS_EKF2_FLOW_INNOV_GATE	3	Flow sensor innovation gate [STD]
INS_EKF2_AGL_ID	ABI_BROADCAST	ABI sensor ID used as input for AGL measurements
INS_EKF2_BARO_ID	ABI_BROADCAST	ABI sensor ID used ad input for Barometric measurements
INS_EKF2_GYRO_ID	ABI_BROADCAST	ABI sensor ID used as input for gyro measurements
INS_EKF2_ACCEL_ID	ABI_BROADCAST	ABI sensor ID used ad input for acceleration measurements
INS_EKF2_MAG_ID	ABI_BROADCAST	ABI sensor ID used as input for magnetic measurements
INS_EKF2_GPS_ID	ABI_BROADCAST	ABI sensor ID used ad input for GPS measurements

Depends

• @gps
• @mag
• @imu

Provides

• ins
• ahrs