What is the reason of INAV position estimator is deprecated?

[bigbellmercy]

I think INAV position estimator with attitude_estimator_q works well.

But why is INAV deprecated after firmware version v1.5.1?

EKF2 or LPE accuracy is better than INAV?

[alexh]

Up and hello.

I have the same question. I would like to reuse INAV estimator, but first I’m looking for the reasons why it was abandoned.

Would anyone know why it is deprecated?

Thanks.

[JulianOes]

The LPE estimator and ekf2 are more sophisticated and so it was decided to focus the resources on these newer estimators.

[Kyuhyong_You]

@JulianOes I have difficulty using LPE for position control with optical flow sensor as I mentioned in this post.
Can you give me any advise on this issue?

Is there any detailed explanation about local position estimator?

I am trying to utilize local_position_estimator(LPE) with optical flow sensor however it does not work as expected. I checked lidar range data is streaming as well as flow sensor but LPE keeps saying lidar timeout and baro timeout. I also found flow data is not corrected and always return because agl()<flow_min_agl does not met. I think agl stands for above ground level is that correct? But agl is not correctly represent my range measurement data and oscillates near zero value. Is there any…

[JulianOes]

I’m sorry I haven’t used LPE in a long time. I’d ask @jgoppert or @mhkabir.