Hello guys! Did anyone ever try to use an external heading, from GPS_INPUT or ExternalNAV system, to the ardupilot? Is there a way to make the EKF to blindly follow the ExternalNav heading?
For my case, there are some drifting and offset with the ExternalNav heading overtime. Even though the offset is negligible, I just wanted to know if its possible to tell the ekf to blindly follow the ExternalNav heading?
Thanks!
Hi @jmrobsam,
This doesn’t completely make sense, because the EKF still needs to predict the heading during the time between the measurements. The other sensors are also used for comparing whether changing values are consistent with other components of the vehicle’s state and motion.
There are several noise-related (*_NSE) EKF parameters, and depending on how you adjust them (and the data sources your vehicle has available) you should be able to increase or reduce relative trust of a given input type, which then changes which ones most strongly influence the state estimates.