ardupilot开发 --- EKF 篇

1. EKF1~EKF3

待续…

2. Ardupilot滤波算法的演变

使用DCM还是EKF?
AHRS_EKF_USE: set to “1” to use the EKF, “0” to use DCM for attitude control and inertial nav (Copter-3.2.1) or ahrs dead reckoning (Plane) for position control. In Copter-3.3 (and higher) this parameter is forced to “1” and cannot be changed.

3. EKF3

• AHRS_EKF_TYPE = 3
  EK2_ENABLE = 0
  EK3_ENABLE = 1
• 飞控有多少个IMU就会运行多少个 EKF core 或称 EKF lane
  EK3_IMU_MASK 参数决定哪些IMU用于运行EKF lane.
• 只有一个EKF lane 被用作飞机的状态估计AHRS，由参数EK3_PRIMARY决定，0 selects the first IMU lane in the EK3_IMU