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When using the remote GPS with indoor flight area, the heading is usually extracted from the GPS heading and it's usage is dependent of the INS/AHRS implementation, sometimes with invalid projections.
A better solution might be to compute a virtual measurement and project it on the body frame on the ground side. Then send it to the drone with a REMOTE_MAG message. The estimation filters will be able to use this as they would use a regular magnetometer when supported, instead of abusing the GPS heading field.
The text was updated successfully, but these errors were encountered:
When using the remote GPS with indoor flight area, the heading is usually extracted from the GPS heading and it's usage is dependent of the INS/AHRS implementation, sometimes with invalid projections.
A better solution might be to compute a virtual measurement and project it on the body frame on the ground side. Then send it to the drone with a REMOTE_MAG message. The estimation filters will be able to use this as they would use a regular magnetometer when supported, instead of abusing the GPS heading field.
The text was updated successfully, but these errors were encountered: