Tomasso
November 2, 2021, 4:57pm
1
EKF2 has a parameter * EK2_ALT_SOURCE : Specifies which sensor to use as the primary altitude source; barometer, GPS, or range-finder (N/A). I haven’t been able to find a similar variable for EKF3. Does EKF3 allow disable of GPS for altitude calculation?
Thanks
ardisd
November 2, 2021, 7:56pm
2
@Tomasso
Take a look at my copter post might be useful
@ardisd ,
Thanks for trying out Copter-4.1.0.
I had a quick look at the log and I think if the EK3_SRC1_POSZ parameter is set to 3 (“GPS”) then the vehicle should use the GPS for altitude. I see the parameter so hopefully it should show up in the full parameter list. I’m sure it will show up in Mission Planner although I’m a little less sure about QGC.
It is failing to enter Loiter mode (probably) because the EKF doesn’t yet have a good position estimate. It looks like the vehicle was armed…
David Ardis
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tridge
November 8, 2021, 9:55pm
3
EKF3 uses the EK3_SRC parameters to control the sensor sources for all types of inputs.https://ardupilot.org/plane/docs/parameters.html#ek3-src1-posz-position-vertical-source
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