Hi all,
I’m trying to use the MAV_CMD_EXTERNAL_POSITION_ESTIMATE within the SITL system, using Plane v4.5.1.
I’m sending in the message using the mavlink interface. Parameters 2 and 4 (Processing time and Empty) are 0. Parameters 3 and 7 are NaN. Then Parameter 1 is the time stamp, and 5/6 are latitude/longitude respectively.
At present, when I send in a mavlink message, I’m getting Got COMMAND_ACK: EXTERNAL_POSITION_ESTIMATE: FAILED in the console.
The settings I’m using at present:
GPS_TYPE: 0
AHRS_EKF_TYPE: 11
EAHRS_SENSORS: 1
EK3_SRC1_POSXY: 6
AHRS_GPS_USE: 0
The aim is just to use this to modify the position. I want the orientation of the vehicle to come from the compass, hence the use of external only for POSXY.
Help on this would be much appreciated. It feels like I’m one or two configurations out from getting it to work, but might well be doing something else wrong.