Velocity and acceleration estimate for unarmed vehicle

ArduCopter
1

I am using multiple Cube Orange with ArduCopter 4.1 or 4.2 on multicopters where they work really good and the velocity and acceleration estimates seem to be quite accurate.
I also use them for positioning of systems that are carried by a person. In this case however the velocity and acceleration estimate is really bad. The attitude seems to work though.

That happens with RTK Fix, where if should be possible to compute accurate velocities.

Does the EKF work differently when the system is not armed? Does it recalibrate when being armed? Does it assume to be stationary?

Any hints how to get the best sensor readings and EKF estimates for passive systems?

Cheers, Richy

2

You should definitely arm it. Ist there a reason not to ?

3

I did not think of it because there are no motors. But looking at the EKF3 code I agree with you that I should arm it so it thinks it is in the air.

4

just use the rover autopilot and arm, it doesn’t care about motors. Remove the DISARM_DELAY, and CRASH_CHECK. You can even set the ARMING_REQUIRE to 0 to autoarm on boot.

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