I study position estimation in PX4 v1.6.5.
I use RTK-GPS(u-blox m8p).
I want to learn how IMU and GPS are integrated.
I am using EKF2 for position estimation.
Should I proceed with learning by referring to either Firmware/src/modules/ekf2/ekf2_main.cpp or Firmware/src/lib/ecl/EKF/ekf.cpp?
Do these two codes have a relationship?
Sorry my poor english.