The EKF has started using the GPS: position modes are available
What ArduPilot says:
- EKF3 IMUN is using GPS
- EKF2 IMUN is using GPS
This copy of the EKF, ArduPilot's position and attitude estimator, now takes position and velocity from the GPS. Everything this needs has happened: the origin is set, tilt and heading are aligned, the gyro biases are learned (on a copter), and the GPS has passed the EKF's quality checks for 10 s in a row. From here on modes that need a position can be used. Outdoors expect it 30 s to a couple of minutes after power-on. It repeats whenever GPS use resumes after “stopped aiding”.
Parameters to look at
| Parameter | What it is |
|---|---|
EK3_SRC1_POSXY | Position Horizontal Source (Primary) |
EK3_GPS_CHECK | GPS preflight check |
Where to do it:Setup & Tuning Guide
The code that sends it
EKF3 IMUN is using GPS
libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp NavEKF3_core::setAidingMode() · Open in ArduPilot Copter-4.7.1
EKF2 IMUN is using GPS
libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp NavEKF2_core::setAidingMode() · Open in ArduPilot Copter-4.7.1