Should vehicles that fully utilize a VectorNav GPS+IMU device, i.e. the VN-300, bypass EKF2 altogether?
My vehicle has only the VN-300, and we’re running it with most of the bells and whistles turned on. Practically speaking, it provides us the authoritative measurements for vehicle pose and position.
The engineer in me says that since the VN data has already been extensively filtered, we should skip EKF2 to avoid the risk of introducing errors and lag. The software guy in me somewhat agrees, but the result is a configuration that’s pretty different from (what I think is) a traditional PX4 setup. Then again, how many “traditional” systems have a $5K-ish GPS+IMU package onboard?
The other software guy in me complains that, for situations where VectorNav isn’t the sole sensor, a chunk of code that writes directly to the same uORB topics as EKF2 will just get into everyone else’s way.
So, do I (a) leave EKF2 off, and send VectorNav data directly to uORB topics including vehicle_attitude; (b) dissect incoming VectorNav data to pretend that it’s an ordinary GPS receiver and IMU, and feed the stream to EKF2 as usual; or, © something else entirely?