The EKF started using a position source other than GPS
What ArduPilot says:
- EKF2 IMUN is using range beacons
- EKF2 IMUN initial pos NE = N.N,N.N (m)
- EKF2 IMUN is using optical flow
- EKF3 IMUN fusing odometry
- EKF3 IMUN started relative aiding
- EKF3 IMUN initial pos NE = N.N,N.N (m)
Also explained here: 9 more
- EKF3 IMUN fusing optical flow
- EKF3 IMUN initial pos NED = N.N,N.N,N.N (m)
- EKF3 IMUN initial beacon pos D offset = N.N (m)
- EKF2 IMUN is using external nav data
- EKF3 IMUN is using range beacons
- EKF3 IMUN initial vel NED = N.N,N.N,N.N (m/s)
- EKF3 IMUN is using external nav data
- EKF2 IMUN initial pos NED = N.N,N.N,N.N (m)
- EKF2 IMUN initial beacon pos D offset = N.N (m)
This copy of the EKF, ArduPilot's position and attitude estimator, has begun to navigate from the source named: an external navigation system (a tracking camera, motion capture), range beacons, optical flow or wheel and body odometry. “started relative aiding” means it now knows its speed over the ground, from optical flow or odometry, but not where on the Earth it is, so its position drifts slowly. The “initial pos” and “initial vel” lines give the first position (metres north, east, down from the origin) and velocity it took from that source.
Parameters to look at
| Parameter | What it is |
|---|---|
EK3_SRC1_POSXY | Position Horizontal Source (Primary) |
EK3_SRC1_VELXY | Velocity Horizontal Source |
EK3_SRC1_POSZ | Position Vertical Source |
FLOW_TYPE | Optical flow sensor type |
VISO_TYPE | Visual odometry camera connection type |
The code that sends it
EKF2 IMUN is using range beacons
libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp NavEKF2_core::setAidingMode() · Open in ArduPilot Copter-4.7.1
EKF2 IMUN initial pos NE = N.N,N.N (m)
libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp NavEKF2_core::setAidingMode() · Open in ArduPilot Copter-4.7.1
EKF2 IMUN is using optical flow
libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp NavEKF2_core::setAidingMode() · Open in ArduPilot Copter-4.7.1
EKF3 IMUN fusing odometry
libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp NavEKF3_core::FuseBodyVel() · Open in ArduPilot Copter-4.7.1
And 11 more messages, sent from the same places.