mitrucs
(Mi)
September 3, 2020, 9:48am
1
Hello,
I have questions regarding the use of Replay to run EKF with external data.
I had good progress since my last topic Using the Replay tool to run EKF with external IMU and GNSS data files
Based on AP_logger_test and CSV reading I managed to save IMU and GNSS data in a dataflash log :
https://mega.nz/file/TVUHHKCT#YoeuVjOanpDDE6I6bbztjxon1Nqajmf9GQKHpfUMXho
https://mega.nz/file/HRFFAabT#mg-ItpQx6OM9NPNgS2REud8kJjd2T0B2bOQ7KMQKCC0
Now that I have a log file with IMU data and GNSS raw + pvt data, I’m running it through Replay.
The soft does not complain (i.e. it is going up to the end of processing) but I don’t get relevant results from the NKF nor do I get any data from EKF :
https://mega.nz/file/SMdX2a7b#Vz9pi6kORhgZPouec8GK4cDkfC_sVwf8wqANY7PZTY0
What can I do to improve my results here and get and output for EKF ?
Is there documentation about the meaning of the logged NKF values ? I understood that NKF4.SV is the ground speed but how do I know the others ?
Thanks,
Mi
I have questions regarding the use of Replay to run EKF with external data.
Firstly, you really need to run my PR here:
ArduPilot:master
← peterbarker:pr/replay-at-least-runs
opened 11:15AM - 25 Mar 20 UTC
This is a small-effort attempt to get Replay running in the form that it has tra… ditionally run in, feeding sensor data in from our existing BARO, GPS messages etc.
It does run, and does reproduce both successful replication of a flight and at least one (justifiable!) FPE.
Future work will look at changing Replay to log input to the EKFs as separate messages which should give us a less-prone-to-break tool.
I had good progress since my last topic Using the Replay tool to run EKF with external IMU and GNSS data files
Based on AP_logger_test and CSV reading I managed to save IMU and GNSS data in a dataflash log :
File on MEGA
File on MEGA
Now that I have a log file with IMU data and GNSS raw + pvt data, I¢m running it through Replay.
That data is insufficient, I’m afraid. You need a replay-enabled log -
one where LOG_REPLAY is set.
Peter
vbnhu
(vbnhu)
September 5, 2020, 1:10pm
3
I would recommend looking at: https://github.com/PX4/ecl/tree/master/EKF/matlab/EKF_replay
It includes instructions for both PX4 and APM replay.