I’m interested in running the AP EKF filter with custom IMU and GNSS data stored in text format in order to check if it will improve the GNSS position.
I found the Replay tool which purpose is to tune the EKF filter and run it with any parameter.
First I wanted to make a dry run of Replay but I’m already stuck with a bug, whatever the parameter I give. I have a clean repo clone here and just built according to the page
~/ardupilot$ ./waf configure --board=linux ~/ardupilot$ ./waf build --target=tools/Replay ~/ardupilot$ build/linux/tools/Replay --help Too many inertial sensors
Any idea what is going wrong here ?
My next question is whether I should produce a binary dataflash log or if there is a text format that could be fed to the tool ?
My data was not produced using Ardupilot so this is the tricky part here.
Many thanks for your help,