# Modules Reference: Estimator
# AttitudeEstimatorQ
Source: modules/attitude_estimator_q (opens new window)
# Description
Attitude estimator q.
# Usage
AttitudeEstimatorQ <command> [arguments...]
Commands:
start
stop
status print status info
# airspeed_estimator
Source: modules/airspeed_selector (opens new window)
# Description
This module provides a single airspeed_validated topic, containing indicated (IAS), calibrated (CAS), 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 CAS, it runs several wind estimators and also publishes those.
# Usage
airspeed_estimator <command> [arguments...]
Commands:
start
stop
status print status info
# ekf2
Source: modules/ekf2 (opens new window)
# Description
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 (opens new window) 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.
# Usage
ekf2 <command> [arguments...]
Commands:
start
[-r] Enable replay mode
stop
status print status info
select_instance Request switch to new estimator instance
<instance> Specify desired estimator instance
# local_position_estimator
Source: modules/local_position_estimator (opens new window)
# Description
Attitude and position estimator using an Extended Kalman Filter.
# Usage
local_position_estimator <command> [arguments...]
Commands:
start
stop
status print status info
# mc_hover_thrust_estimator
Source: modules/mc_hover_thrust_estimator (opens new window)
# Description
# Usage
mc_hover_thrust_estimator <command> [arguments...]
Commands:
start
stop
status print status info