切换状态估计器

此页显示了可用的状态估计器以及如何在它们之间切换。

TIP

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.

可用的估计器

可用的估计器如下：

• 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.

  WARNING

  LPE is deprecated. （在开发 PX4 v1.14时）它是工作的，但是不再支持或维护。

:::

• Q attitude estimator - A very simple, quaternion based complementary filter for attitude. 它不需要 GPS、磁力计或气压计。

如何启用不同的估计器

要启用特定的估算器，请启用其参数并禁用其他参数：

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

WARNING

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. 如果没有启用，主题将不发布。

INFO

For FMU-v2 (only) you will also need to build PX4 to specifically include required estimator (e.g. EKF2: make px4_fmu-v2, LPE: make px4_fmu-v2_lpe). 这是因为 FMU-v2 不具有足够的资源同时包含这两个估计器。 其他的 Pixhawk FMU 版本同时拥有两个估计器。