Pixhawk - State Estimator

#1

Hey,

Does anyone have any lead on the state estimation theory(papers, thesis, etc.) that is implemented on the Pixhawk? I am basically looking for how the sensor readings from the IMU are used in conjunction with the dynamics to estimate the state of the system.

Apologies, if it’s a repeated post. I was unable to find anything on the forums.

Thanks

#2

Anyone got any information on this?

Thanks
Akshay

#3

Looking for an update on this.

#4

Hi This is very late reply.
You probably know the answer now.

You can reference this two site below;

  1. EKF on PX4
    https://dev.px4.io/en/tutorials/tuning_the_ecl_ekf.html

  2. Code for EKF
    https://github.com/PX4/ecl/blob/master/EKF/matlab/scripts/Inertial%20Nav%20EKF/GenerateNavFilterEquations.m

Thank you.