Modules Reference: Estimator

airspeed_estimator

Source: modules/airspeed_selector

Description

This module provides a single airspeed_validated topic, containing an indicated (IAS), equivalend (EAS), true airspeed (TAS) and the information if the estimation currently is invalid and if based sensor readings or on groundspeed minus windspeed. Supporting the input of multiple "raw" airspeed inputs, this module automatically switches to a valid sensor in case of failure detection. For failure detection as well as for the estimation of a scale factor from IAS to EAS, it runs several wind estimators and also publishes those.

Usage

airspeed_estimator <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

ekf2

Source: modules/ekf2

Description

Attitude and position estimator using an Extended Kalman Filter. It is used for Multirotors and Fixed-Wing.

The documentation can be found on the ECL/EKF Overview & Tuning page.

ekf2 can be started in replay mode (-r): in this mode it does not access the system time, but only uses the timestamps from the sensor topics.

Usage

ekf2 <command> [arguments...]
 Commands:
   start
     [-r]        Enable replay mode

   stop

   status        print status info

local_position_estimator

Source: modules/local_position_estimator

Description

Attitude and position estimator using an Extended Kalman Filter.

Usage

local_position_estimator <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

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