How do I monitor the state of the EKF? Specifically I want to check if it is done initializing such that we are ready to fly.
When booting the autopilot, the EKF needs some time to be ready to flight. If I try to arm it in this timespan, I get a human readable warning
APM: PreArm: EKF2 still initialising. The question is then: How can I know know if the EKF is ready to arm through MAVROS? (or through Mavlink without MAVROS?)
I have tried two topics:
/mavros/estimator_status seems to be empty. No received messages.
/mavros/state has a field called
system_status, but that seems to be set to
3 = STANDBY even when I get the error message
APM: PreArm: EKF2 still initialising.
I don’t know if it is relevant, but I am trying to do GPS denied navigation, so the EKF initialization I am waiting for is the reinitialization after setting the origin with SET_GPS_GLOBAL_ORIGIN (mavrostopic:
Any help would appreciated.