Why the parameter EKF2_GPS_DELAY equals to 110ms?

Pixhawk
1

I just want to use other navigation system instead of GPS on pixhawk, which the protocol is the same, and I want to setting the parameters appropriate. So I want to know why the parameter EKF2_GPS_DELAY equals to 110ms? How can I setting

2

Hi
This can be done via a flight log and then replay the log with different EKF2_GPS_DELAY values. The value that minimizes the estimator innovations is best.
See here how to do the replay: https://dev.px4.io/en/debug/system_wide_replay.html#ekf2-replay

3

That’s a good idea, I’ll try it. Thank you very much!