Getting EKF data in Replay

General
#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

#2

I have questions regarding the use of Replay to run EKF with external data.

Firstly, you really need to run my PR here:

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.

That data is insufficient, I’m afraid. You need a replay-enabled log -
one where LOG_REPLAY is set.

Peter

#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.