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.
airspeed_estimator <command> [arguments...] Commands: start stop status print status info
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.
ekf2 <command> [arguments...] Commands: start [-r] Enable replay mode stop status print status info
Attitude and position estimator using an Extended Kalman Filter.
local_position_estimator <command> [arguments...] Commands: start stop status print status info