Help me to understand the code in ekf2_main.cpp

1

I’m reading ekf2_main.cpp code, but there are many things I can’t understand, even with the help of code comments.I looked for some information on the Internet, not good, who can tell me where there is a good blog about ekf2_main.cpp

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ekf2_main.cpp is just the file which interfaces to the EKF2 from the ecl library.

I’m assuming you want to know more about EKF2 in which case I suggest to have a look at the ecl library:

and the EKF2 docs:
https://dev.px4.io/en/tutorials/tuning_the_ecl_ekf.html

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3

Thank you very much. You are a good man

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4

I have a question. lpos_x /y/z is calculated only by IMU?Or fusion with data from GPS and PX4 FLOW data if have.

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The local position is an output from the EKF2 and includes data from the IMU, GPS and/or PX4Flow.

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OK,thank you.It seems that use EKF2_AID_MASK could set fusion data from GPS