i want to use external position estimation on my quadrocopter using VISION.
I know that i have to set the configuration bits of the LPE_FUSION parameter to decide what information should be “fused”, but i did not find a detailed explanation of the parameter. The only official explanation i found was this, but for instance, the explanation for “flow gyro compensation” is “Set to true to enable flow gyro compensation”. I think this is not very helpful.
Some several Questions:
- fuse optical flow: Does this enable the fusion of the positioning by some connected optical flow system like the px4 flow?
- fuse land detector: If i enable the land detector, how does it detect wether the drone was landed or not. Are the position information from the external position estimator used for this?
- pub agl as lpos down: this is really the most confusing parameter. I found out that agl is the shorthand symbol for “about ground level”, but i really dont know what the rest of the parameter means.
- flow gyro compensation: What does this mean in detail. Does this use the sensors on some connected optical flow system to compensate some measurements errors of the imu?
I hope you can help me by understanding the parameters.