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Ardupilot simulation to learn ekf3 gps none gps switch using vicon simulation

Robotics / uav / ardupilot / ekf3

Simulate using ardupilot SITL gps and none gps environment using vicon and switch between ekf sources The simulate generate VISION_POSITION_ESTIMATE and VISION_VELOCITY_ESTIMATE

run sitl with vicon simulation
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Tools/autotest/sim_vehicle.py -v ArduCopter --map --console -A "--serial5=sim:vicon:"

Ena/Dis sim GPS

SIM_GPS1_ENABLE 0: Disabled 1: Enabled

Parameters

name value
VISO_TYPE 2 (intelT265)
SERIAL5_PROTOCOL2 2 (mavlink2)
EK3_SRC1
EK3_SRC1_POSXY 3 (GPS)
EK3_SRC1_POSZ baro
EK3_SRC1_VELXY 3
EK3_SRC1_VELZ 3
EK3_SRC1_YAW 1 (Compass)
EK3_SRC2
EK3_SRC2_POSXY 6 (ExternalNav)
EK3_SRC2_POSZ baro
EK3_SRC2_VELXY 6 (ExternalNav)
EK3_SRC2_VELZ 6
EK3_SRC2_YAW 1 (Compass)

switch sources

MAV_CMD_SET_EKF_SOURCE_SET (42007)

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alt text

set param

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# enabled
param set SIM_GPS1_ENABLE 1
# disabled
param set SIM_GPS1_ENABLE 0

alt text

alt text

EKF

Ardupilot

EKF_STATUS_REPORT (193)

ESTIMATOR_STATUS (230)

Ardupilot not implement this message

Switch source

Mavlink command MAV_CMD_SET_EKF_SOURCE_SET from ardupilot dialect

using mavros to switch
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# param1: 1-3
ros2 service call /mavros/cmd/command mavros_msgs/srv/CommandLong \
"{command: 42007, param1: 2}"