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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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EKF GPS blending does not account for sensor position #13896

Open CarlOlsson opened 4 years ago

CarlOlsson commented 4 years ago

There is a TODO comment in the code so this is a know issue, but I thought it is still worth documenting it here. Currently EKF2 does not support blending the GPS module position offset on the vehicle. For the position measurements it is maybe not crucial but for the velocity measurements it can be critical during fast attitude changes. E.g. during a rolling maneuver on a fixed wing with one GPS module in each wing.

dagar commented 4 years ago

I'm not sure why it wasn't added initially, but one thing we're missing is offsets for GPS2. Ultimately I'd like to have sensor metadata available system wide for all sensor types (per sensor instance) and not as EKF2 parameters.

dagar commented 4 years ago

@priseborough or @RomanBapst can you comment on the GPS blending TODO?

https://github.com/PX4/Firmware/blob/32a4e3a942533d9863a38dbba6062cfb51f13b06/src/modules/ekf2/ekf2_main.cpp#L2141-L2144

RomanBapst commented 4 years ago

@dagar Not sure what to say about it. It should be done I guess.

stale[bot] commented 4 years ago

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.

stale[bot] commented 4 years ago

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.