ins_ekf2
simple INS and AHRS using EKF2 from PX4
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