Some further discussion on EKF2 vs EKF3 after today’s dev call. The issue prompting this was the solo running out of memory on the Pixhawk 2 when both EKF2 and EKF3 are enabled.
The current documentation indicates that EKF3 is there in “ride along”. Does this require EK3_Enable=1 to be set in order for it to ride along? If so, that would seem to imply that AHRS_EKF_USE would still be set for 2. So AC is using EKF2 for flight, but EKF3 is running in the background for logging and testing. To do this, you would need to leave EK2_Enable=1 set as well, since EKF2 needs to be enabled for flight.
This presents a problem if memory is running out. Is my understanding of this correct, or am I all messed up? Does the Pixhawk 2.1 have enough memory for both and it’s just the Solo’s Pixhawk 2 and Pixhawk 1 that doesn’t?