Hi
I’m a bit confused on how to configure sensors for lanes.
Let’s take a simple example for a vehicle, which has 2 baros , 2 GPS, 2 airspeeds, 3 mags and 3 IMUs.
- As there are 3 IMUs, so 3 lanes
Now, EKF3: Sensor Affinity and Accumulated Error Lane Switching #14674 says:
| LANE | 1 | 2 | 3 |
|---|---|---|---|
| ASD | 1 | 2 | 1 |
| BAR | 1 | 2 | 1 |
| GPS | 1 | 2 | 1 |
| MAG | 1 | 2 | 3 |
What I’m confused is, why not below configuration?
use BAR2 and GPS2 for lane #3, not BAR1 and GPS1 for lane #3, anyway to adjust these configurations or any rules for lane configuration?
| LANE | 1 | 2 | 3 |
|---|---|---|---|
| ASD | 1 | 2 | 1 |
| BAR | 1 | 2 | 2 |
| GPS | 1 | 2 | 2 |
| MAG | 1 | 2 | 3 |
— EDIT
I didn’t find any clue about this also.