Hello guys, I wrote a new driver for an external IMU and I am publishing over uORB the accel, gyro, magnetometer and baro readings. I noticed in QGroundControl that the changes in yaw, pitch, roll are happening very very slowly. Unsafe to fly. I plotted the attached graph for readings of magnetome…

Hi @MTM , You can use this script to analyse and debug the EKF results. Good luck

Hi bresch, Thank you for your suggestion. I run the script and I got the attached pdf. Not sure that this flags the problem, but I see in diagram Magnetic Heading Innovation (page 6) that there seems to be some cut-off at the max value of 0.781. What can be the meaning of this ? Is there some up…

I started to suspect that there may be some issues with the calibration. Can somebody point me to the documentation for them ? More precisely: How do I choose the device id that I sent in uORB messages ? I randomly choose 77 for all the id’s (accel, gyro, mag and baro) implemented in my driver…

Hi @MTM wanted to check how did you integrate your new uORB topic with EKF2? @bresch is it possible to define a new uORB topic like vehicle_imu (say vehicle_imu_ai) and pass that into EKF2 without breaking other parts like mavros/imu/data? I simply want my EKF2 to process IMU data from vehicle_imu…

@souvik0306 Is it also coming from mavlink then? You could do like here: PX4-Autopilot/src/modules/mavlink/mavlink_receiver.cpp at f03131cfd3a5b92dfa8beda6b53d679ea1ce5666 · PX4/PX4-Autopilot · GitHub PX4Accelerometer and PX4Gyroscope then takes care of publishing sensor_accel and sensor_gyro, whi…

@bresch My goal is to get /mavros/imu/data → AI Model → UDP → New uORB topic → EKF2 → AI-corrected State Estimation. As of now, I’m able to send my data to the new uORB topic. But EKF2 by default relies on vehicle_imu, the minute I try to switch from that to my new uORB topic, mavros/imu/data stops…

EKF2 delays with external IMU

crazy-robotics October 16, 2025, 7:38am 6

@MTM, which external IMU did you use?

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EKF2 delays with external IMU

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