I'm trying to setup dronekit and noticed that vehicle.is_armable() won't return True. At runtime this is because _ekf_predposhorizabs is False as set here.
self._ekf_predposhorizabs = (m.flags & ardupilotmega.EKF_PRED_POS_HORIZ_ABS) > 0
The value for ardupilotmega.EKF_PRED_POS_HORIZ_ABS is 512 and my m.flags is set to 165. I've tried tweaking some params (see below) but nothing will help set that bit in my flags.
My setup is the following:
- Pixhawk
- Raspberry Pi 3 connected to the Pixhawk via Telem 2
- ArduCopter 3.3.3
- dronekit 2.8.0
Here are my Extended Kalman Filter related params as QGC dumped them:
EKF_ABIAS_PNOISE 0.000049999998736894
EKF_ACC_PNOISE 0.250000000000000000
EKF_ALT_NOISE 1.000000000000000000
EKF_ALT_SOURCE 1
EKF_EAS_GATE 10
EKF_EAS_NOISE 1.399999976158142090
EKF_FALLBACK 1
EKF_FLOW_DELAY 10
EKF_FLOW_GATE 3
EKF_FLOW_NOISE 0.250000000000000000
EKF_GBIAS_PNOISE 0.000000999999997475
EKF_GLITCH_ACCEL 100
EKF_GLITCH_RAD 25
EKF_GND_GRADIENT 2
EKF_GPS_TYPE 0
EKF_GYRO_PNOISE 0.014999999664723873
EKF_HGT_GATE 10
EKF_MAGB_PNOISE 0.000300000014249235
EKF_MAGE_PNOISE 0.000300000014249235
EKF_MAG_CAL 1
EKF_MAG_GATE 3
EKF_MAG_NOISE 0.050000000745058060
EKF_MAX_FLOW 2.500000000000000000
EKF_POSNE_NOISE 0.500000000000000000
EKF_POS_DELAY 220
EKF_POS_GATE 10
EKF_RNG_GATE 5
EKF_VELD_NOISE 0.699999988079071045
EKF_VELNE_NOISE 0.500000000000000000
EKF_VEL_DELAY 220
EKF_VEL_GATE 5
EKF_WIND_PNOISE 0.100000001490116119
EKF_WIND_PSCALE 0.500000000000000000
FS_EKF_ACTION 1
FS_EKF_THRESH 0.800000011920928955
Any help would be much appreciated.
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