Hi.
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?
The EKF is split into a frontend (ekf2_main) that interfaces with PX4, and a more general backend (ecl/EKF). I’d start in ekf2_main to see roughly how it’s called, but then you’ll quickly end up in the actual EKF code in ecl.