Which estimator is supplying attitude and position now
InformationPosition and attitude estimate (EKF, AHRS)
What ArduPilot says:
- AHRS: … active
The line names the estimator in use: EKF3 (the normal one), EKF2, DCM (the simple back-up) or External. At start-up “AHRS: DCM active” comes first and “AHRS: EKF3 active” a second or more later, when the EKF has started. On a plane the change to EKF3 waits for a 3D GPS fix and for good EKF data, and “DCM active” in flight means the plane judged the EKF unusable and fell back. A copter falls back to DCM only on an internal EKF fault.
Parameters to look at
| Parameter | What it is |
|---|---|
AHRS_EKF_TYPE | Use NavEKF Kalman filter for attitude and position estimation |
AHRS_OPTIONS | Optional AHRS behaviour |
The code that sends it
AHRS: … active
libraries/AP_AHRS/AP_AHRS.cpp AP_AHRS::update() · Open in ArduPilot Copter-4.7.1