Hey, I am flying with an onboard vision system that estimates a UAV position according to the marker placed on the ground. The position is published to
vision_pose_estimate plugin in marker frame RIGHT-FRONT-UP (ENU but the marker is not aligned with magnetic north).
EKF2_AID_MASK is set to
1: use optical flow, 3: vision position fusion, 4: vision yaw fusion and it generally works but sometimes it rejects EKF2 yaw estimate or circles around set position.
The question is:
- Should I use
6: rotate external visionin
EKF2_MAG_TYPEis for me? I have tried
4: MC customand
5: Nonebut I don’t understand what’s the difference. I know that it’s used in these lines: https://github.com/PX4/ecl/blob/1378ec179717448404c74819871d149217350b19/EKF/ekf_helper.cpp#L609-L616
- I want to fly without a mag sensor enabled but I don’t think it’s currently possible in EKF2 (it worked in LPE), is it?
@mhkabir can you help me?