Performing Modifications to the EKF states in AHRS code

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1

Hello,

I was interested in performing some changes to the attitude estimation algorithms and EKF. So, I downloaded the raw data from dataflash logs, and used it as an input for the code in dev.ardupilot.com/wiki/ekf2-navigation-system/)

However, I got a considerable deviation of the estimated attitude/position from the algorithm in this code when I compared with what was already logged on board.

If someone has tried something similar, please let me know. Is there a way to directly run the data through the code in github.com/diydrones/ardupilot/ … NavEKF.cpp, and get the estimated outputs through the EKF

Thanks,
Mahanth

2

See this tool:
dev.ardupilot.com/wiki/testing-with-replay/
(the docs are a bit dated, but should get you started)

3

Thanks!