EKF working differences - Armed Vs Disarmed

[jagadish_kumar_m_r]

Hey guys,

I would like to know if there is a difference between how EKF works when it is disarmed Vs when it armed. I was wondering if there were any re-initializations that take place when disarmed that does not occur after arming?

My use case: Use an isolated “disarmed” pixhawk with a GPS inside an airframe to get information about the flight such as attitude angles, speed, position ,etc. This data is then sent to an attached companion computer via CAN. [I cannot arm because I am not using pixhawk in a traditional way to control the airframe].

I couldn’t find any topics on this topic and hence enquiring on the forum. Any help would be appreciated.

Thanks!

[JulianOes]

Without validating this by reading the source, my assumption is that the ekf doesn’t care whether something is armed or not, however, it does incorporate the landed vs. in-air state, and that potentially matters and changes the results!

@jagadish_kumar_m_r

I cannot arm because I am not using pixhawk in a traditional way to control the airframe]

I would consider to arm it anyway if possible, and setting it to in-air, e.g. by setting throttle high.