I’m working on a boat using 1Hz GPS, and I’ve noticed a problem with the groundspeed reading. The speed reported by ArduPilot slowly increases and drifts away from the actual GPS speed, and the EKF doesn’t seem to be correcting it. It looks like the EKF is relying on IMU dead reckoning for velocity and ignoring the GPS updates.
ArduPilot needs a 5Hz GPS to work correctly.
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