I have been trying for some time now to determine whether or not it is possible to use any pre-existing Extended Kalman Filter (EKF) module on the Pixhawk. I have found existing modules for ArduPilot here for “Copter and Plane”, but I am not sure if I can use it for the BlueROV2. From the first link, I stumbled upon more in-depth use of the filter and it’s parameters but no further documentation on running the filter (as a background process or otherwise). For example, following screenshot makes it sound quite simple to start the filter subprocess, but I have no clue as to where I should set this parameter (copy the line to a shell/Python script?)
I know Pixhawk and ArduPilot have the functions available to run the filter, does it translate to ArduSub firmware? And if so, how does one run the filter and get output?