Hello!
We’re a student team who wants to use CubeOrange+ as the FC for a small self-landing rocket (only up to about 50 m, so no airspace issues).
For navigation, we currently use a Here4 GNSS with a Here+ base station (RTK) and are thinking about adding a range finder. The CubeOrange+ also has built-in sensors like accelerometers, gyros, and a barometer.
Right now we’re facing difficulties with the navigation system. From what we know, a Kalman filter usually works with a specific dynamics model. But so far, we haven’t seen discussions or docs showing if PX4’s EKF2 can work for something with custom dynamics like our rocket.
Also, regarding that rockets still experience a higher acceleration (around 4~5 g in our application), we’re not really sure if EKF2 could handle this situation.
So our question is: Can EKF2 be used for a self-configured vehicle with very different dynamics from multirotors or fixed-wing aircraft? If yes, which key parameters or configs should we pay attention to with our current sensor setup?
Sorry for interrupting since we’re newbies to PX4, and English is not my first language @@
Thanks!