Change weight between IMU and visual position estimates in EKF2 / fusion


I’m running PX4 in a SITL simulation environment using AirSim. I’m feeding VISUAL_POSITION_UPDATE messages to PX4. I see that this is being processed by EKF2 fusion, but the IMU data generated by AirSim takes precedence to my visual position / orientation updates.

How can I decrease the weight / significance of the IMU data and increase the weight / significance of the visual position update data sent?

Best regards,


1 Like