Heading/direction of movement estimation in all modes (Is there any mavlink message that gives me TVE and TVN)

ArduCopter Copter 4.3
1

We are writing a custom algorithm on our Companion computer, where I need to estimate the direction in which drone is moving.
As of now I was using actual measured speed obtained over MAVLINK to estimate what direction, drone is moving. However, the estimates are noisy at low speeds appx 2m/s.

Is there a better more accurate/stable way to predict heading /direction of motion/course over ground, like a MAVLINK message to obtain TVE and TVN? In my view, TVE and TVN will give me more accurate results for longer distances (like 5m) compared to VE and VN (which is generally noisy)

2

TVE is target velocity. You do not want that. No wonder it has less noise.

Keep searching, that is not the velocity you seek. I’m pretty sure the velocity you want and need is VE and VN.

3

Yes. Finally using waypoint information to get estimates of the direction of where drone’s general course would be

1 Like