Why EKF2 is missing in 4.1.0?

ArduCopter Copter 4.1
1

Hello,

Im just installed px4flow through i2c port.
And use TFminiS lidar goes to telem2 port.
On status, both works fine.
(Lidar range good)
(Opt_m_x and opt_m_y also changing)

Then im about to try my first flight.

The instruction is

For EKF2, set [EK2_GPS_TYPE] = 0; for EKF3, set [EK3_SRC1_VELXY]= 0 (we don’t want the optical flow being used by the EKF at this stage

But EK3_SRC1_VELXY is just available on 4.1.0

While 4.1.0 make all EK2 parameter is lost

Please help me for the solution.
Thank you very much

2

It is missing because the board you are using has limited memory. Something had to be removed to make it fit.

Update Mission Planner to the latest beta.

3

Hello,

I use missionplanner 1.3.75.1
then HELP → Check for beta updates.
and it downloads and updater pop up.
then i sucessful update the missionplanner with beta updated.

then i re-install quad firmware with 4.1.0
but still ek2 is missing.
Any idea how to make this ek2 appear again?
thank you

4

It is missing because the board you are using has limited memory.

You should use EKF3 instead.

5

Hello thank you for your reply.

Anyway im just following the px4flow instruction.
For first flight i need to do :

EK2_GPS_TYPE = 0
EK3_SRC1_VELXY = 0
(we don’t want the optical flow being used by the EKF at this stage)

So we can just ignore EK2_GPS_TYPE = 0 ?

Note : actually px4flow already active.
Opt_m_x and opt_m_y value keep changing
Which is good.
Sonarrange also good.
But im not able to RTL when no gps lock.
So i assume my px4flow still something wrong.
Thats why i start follow ardupilot instruction and found ek2 is missing on 4.1.0

6

Use EK3_* instead of EK2_*

7

So from

EK2_GPS_TYPE = 0
EK3_SRC1_VELXY = 0

Just simply change into

EK3_GPS_TYPE = 0
EK3_SRC1_VELXY = 0

And px4flow will works?

8

If i just use pixhawk orange cube.
Wont have this problem ?

9

There is no problem. All flight controller have EK3 enabled as default with 4.1.0. EK2 is no longer an available option on some boards with limited flash unless you do a build with the Custom Firmware Builder.

Custom Firmware Builder

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