Using the ECL EKF

bulutgul · June 4, 2020, 9:55am

Hi all,

Using the ECL EKF page mentions the ekf2_innovations message and has been linked but is unreachable. When I check the uorb message list, I see the following messages about ekf2;

ekf2_timestamps.msg

JulianOes · June 4, 2020, 1:12pm

It might have been renamed to:

github.com

PX4/Firmware/blob/master/msg/estimator_innovations.msg

uint64 timestamp		# time since system start (microseconds)

# GPS
float32[2] gps_hvel	# horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)
float32    gps_vvel	# vertical GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)
float32[2] gps_hpos	# horizontal GPS position innovation (m) and innovation variance (m**2)
float32    gps_vpos	# vertical GPS position innovation (m) and innovation variance (m**2)

# External Vision
float32[2] ev_hvel	# horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)
float32    ev_vvel	# vertical external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)
float32[2] ev_hpos	# horizontal external vision position innovation (m) and innovation variance (m**2)
float32    ev_vpos	# vertical external vision position innovation (m) and innovation variance (m**2)

# Fake Position and Velocity
float32[2] fake_hvel	# fake horizontal velocity innovation (m/s) and innovation variance ((m/s)**2)
float32    fake_vvel	# fake vertical velocity innovation (m/s) and innovation variance ((m/s)**2)
float32[2] fake_hpos	# fake horizontal position innovation (m) and innovation variance (m**2)
float32    fake_vpos	# fake vertical position innovation (m) and innovation variance (m**2)

This file has been truncated. show original

It would be great if you could make a pull request with any corrections you find here: https://github.com/PX4/px4_user_guide

bulutgul · June 4, 2020, 1:32pm

Thanks for the answer, I am making the correction and make a pull request.

hamishwillee · June 8, 2020, 11:36pm

Thanks! For anyone else coming here, should all be correct in current master version of the docs.