Need settings for flying with Flow and Rangefinder

Hi everyone. I’m looking for help with setting up my copter to make use of flow sensor and rangefinder.
I have successfully tested both, including a test flight with GPS off. Unfortunately, I’m not finding what settings should be used after testing, for normal flights.

I’d like the drone to primarily use flow sensor and range finder but revert to GPS and baro when there is a fault in signals from flow or rangefinder.
I’m thinking of using the parameters below, but I don’t know much about EKFs, and I’m not sure if my FC has more than one IMU. The FC is 3DR Pixhawk Mini (https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html).

Parameters I’m thinking of:
EK2_ENABLE = 1
AHRS_EKF_TYPE =2
EK2_IMU_MASK = 3
EKF_ENABLE = 0
EK2_GPS_TYPE = 3

RNGFND1_TYPE = 7
FLOW_TYPE = 1

Should EK2_GPS_TYPE = 3 ? Wouldn’t that turn the GPS off permanently so it would not be used if there is a fault in flow sensor?

What other parameters should be used?
Finally, what should be selected/deselected for arming?

Any help will be appreciated.

Hi,

To be able to transition from GPS to Non-GPS navigation you need to use EKF3 instead of EKF2. I have not tried this myself, but I think this might be helpful: https://ardupilot.org/rover/docs/common-non-gps-to-gps.html

Thank you Henrik. I just came across your reply. Great tip - now I know what questions to ask.

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