I’ve got an indoor rover and I’m not able to get it to to into Auto mode. Looking a the logs, I’m getting a “EKF Failsafe” when arming.
- Pixhawk 1 (w/ builtin IMU + compass)
- Wheel encoders
- No GPS
My inital thought was the the EKF requires an absolute position (ie GPS, or other system) reference. I’d previously tried setting the EKF origin in Mission Planner, but got the same issue.
Is it the case that I do require a position reference (GPS, Video Odometry, etc) before the EKF is happy?
[My initial hope was that the wheel encoders + compass would give enough data for the EKF to plot a reasonable intertial position]