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。

EKF2 is highly recommended on vehicles with a GNSS/GPS. The Q-Estimator is recommended if you don't have GPS, and is commonly used in [multicopter racers](../config_mc/racer_setup.md).

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.

  注意

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.

如何启用不同的估计器

For multirotors and VTOL use the parameter SYS_MC_EST_GROUP to choose between the following configurations (LPE is not supported for Fixed-wing).

SYS_MC_EST_GROUP	Q Estimator	LPE	EKF2
1	启用	启用
2			启用
0	启用

注解

仅对于 FMU-v2 你也需要生成 PX4 以具体包含所需的估计器 (例如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。