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상태 추정기 전환

어떤 상태 추정기를 사용할 수 있고 어떻게 전환할 수 있는 지를 설명합니다.

EKF2 is the default and should be used unless you have a reason not to (in particular on vehicles with a GNSS/GPS). The Q-Estimator can be used if you don't have GPS, and is commonly used in multicopter racers.

가용 추정기

사용 가능한 추정기는 다음과 같습니다.

  • EKF2 attitude, position and wind states estimator (recommended) - An extended Kalman filter estimating attitude, 3D position / velocity and wind states.

  • LPE position estimator (deprecated) - An extended Kalman filter for 3D position and velocity states.


LPE is deprecated. It works (at time of writing, in PX4 v1.14) but is no longer supported or maintained. :::

  • Q attitude estimator - A very simple, quaternion based complementary filter for attitude. It does not require a GPS, magnetometer, or barometer.

다양한 추정기 활성화 방법

To enable a particular estimator enable its parameter and disable the others:

  • EKF2_EN - EKF2 (default/recommended)
  • ATT_EN - Q Estimator (quaternion based attitude estimator)
  • LPE_EN - LPE (not supported for Fixed-wing)


It is important to enable one, and only one, estimator. If more than one is enabled, the first to publish the UOrb topics vehicle_attitude or vehicle_local_position is used. If none are enabled then the topics are not published.

:::note FMU-v2(전용)의 경우에는 필요한 추정기를 포함하도록 PX4를 빌드하여야 합니다(예: EKF2: make px4_fmu-v2, LPE: make px4_fmu-v2_lpe). 이는 FMU-v2가 두 추정기를 모두 포함하기에는 리소스가 너무 제한되어 있기 때문입니다. 다른 Pixhawk FMU 버전에는 둘 다 포함되어 있습니다. :::