Can one of the EKF developers help me figure out the right configuration for this setup? I’m building a vision-based system that generates position, altitude, heading, vel_xyz, and standard deviations for all of the above. It does not currently generate pitch or roll.
Can the EKF operate with no mag input? How should it be configured for no mag or unreliable mag?
Should the below configuration work?
My plan has been to push all of that information except heading to the EKF via the GPS input, and use the EVData input for yaw.
I think the EKF parameters that need to be modified from the defaults are:
fusion_mode = (1 << 0) | (1 << 6); // GPS, EV Yaw
mag_fusion_type = 5; // None
vdist_sensor_type = 1; // GPS
So to summarize, I’m inputting Accel&Gyro, GPS, EVData (yaw only), and baro into the EKF, although I’d like the baro to be used as little as possible.
For reference, I’ve got the EKF working and flight-capable for outdoor environments with standard sensors (GPS, Mag, IMU, Baro, Airspeed), and am using the defaults for all EKF parameters.