A copy of the EKF has started
InformationPosition and attitude estimate (EKF, AHRS)
What ArduPilot says:
- EKF3 IMUN initialised
A copy of the EKF, ArduPilot's position and attitude estimator, has started for the IMU with this number (IMU0 is the first); EK3_IMU_MASK decides which IMUs get one. It has taken a first guess of roll and pitch from the accelerometers, assuming the aircraft stands still. Expect it about 2 s after boot: a 1 s delay, then 1 s of collecting sensor data. Next come “tilt alignment complete” and “initial yaw alignment complete”. If the line appears again later, that copy was restarted: see “forced reset”.
Parameters to look at
| Parameter | What it is |
|---|---|
EK3_IMU_MASK | Bitmask of active IMUs |
The code that sends it
EKF3 IMUN initialised
libraries/AP_NavEKF3/AP_NavEKF3_core.cpp NavEKF3_core::InitialiseFilterBootstrap() · Open in ArduPilot Copter-4.7.1