Hey, I am flying with an onboard vision system that estimates a UAV position according to the marker placed on the ground. The position is published to vision_pose_estimate
plugin in marker frame RIGHT-FRONT-UP (ENU but the marker is not aligned with magnetic north).
My EKF2_AID_MASK
is set to 1: use optical flow, 3: vision position fusion, 4: vision yaw fusion
and it generally works but sometimes it rejects EKF2 yaw estimate or circles around set position.
The question is:
- Should I use
6: rotate external vision
inEKF2_AID_MASK
? - Which
EKF2_MAG_TYPE
is for me? I have tried4: MC custom
and5: None
but I don’t understand what’s the difference. I know that it’s used in these lines: PX4-ECL/ekf_helper.cpp at 1378ec179717448404c74819871d149217350b19 · PX4/PX4-ECL · GitHub - I want to fly without a mag sensor enabled but I don’t think it’s currently possible in EKF2 (it worked in LPE), is it?
@mhkabir can you help me?