GPS to non-GPS with Mavlink

[Artem_Borisov]

Hi!

I read and studied:

• GPS / Non-GPS Transitions
• EKF3: improve source switching (GPS<->NonGPS)
• GCS_MAVLink: add support for MAV_CMD_EKF_SOURCE_SET

At last link I saw that there is a mavlink_command_long handler with the code MAV_CMD_SET_EKF_SOURCE_SET. But I didn’t see this code in Mavlink message common.

Who can give the value of MAV_CMD_SET_EKF_SOURCE_SET to form this command?

Thanks!

[stephendade (Stephen)]

MAV_CMD_SET_EKF_SOURCE_SET is in the ArduPilot dialect of MAVLink: ardupilotmega.xml · MAVLink Developer Guide

[Artem_Borisov]

Thank you very much!

I did not know about the existence of such a dialect. Now I will use

[Artem_Borisov]

Hello!
May be you know.
How can i find out which EKF_SOURCE is currently in use, using Mavlink?

[stephendade (Stephen)]

There’s no MAVLink message for the current EKF_SOURCE. You can read it int via Lua and send it on via MAVLink - see ardupilot/active_source_set.lua at master · ArduPilot/ardupilot · GitHub