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49 lines
2.1 KiB
Markdown
49 lines
2.1 KiB
Markdown
# 切换状态估计器
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此页显示了可用的状态估计器以及如何在它们之间切换。
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:::tip
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EKF2 is the default and should be used unless you have a reason not to (in particular on vehicles with a GNSS/GPS).
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The Q-Estimator can be used if you don't have GPS, and is commonly used in [multicopter racers](../config_mc/racer_setup.md).
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:::
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## 可用的估计器
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可用的估计器如下：
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- **EKF2 attitude, position and wind states estimator** (_recommended_) - An extended Kalman filter estimating attitude, 3D position / velocity and wind states.
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- **LPE position estimator** (_deprecated_) - An extended Kalman filter for 3D position and velocity states.
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:::warning
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LPE is deprecated.
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（在开发 PX4 v1.14时）它是工作的，但是不再支持或维护。
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:::
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- **Q attitude estimator** - A very simple, quaternion based complementary filter for attitude.
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它不需要 GPS、磁力计或气压计。
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<!-- Q estimator is supported (at time of writing in PX4 v1.14). Test added in PX4-Autopilot/pull/21922 -->
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## 如何启用不同的估计器
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<!-- Changed in https://github.com/PX4/PX4-Autopilot/pull/22567 after v1.14 -->
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要启用特定的估算器，请启用其参数并禁用其他参数：
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- [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN) - EKF2 (default/recommended)
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- [ATT_EN](../advanced_config/parameter_reference.md#ATT_EN) - Q Estimator (quaternion based attitude estimator)
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- [LPE_EN](../advanced_config/parameter_reference.md#LPE_EN) - LPE (not supported for Fixed-wing)
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:::warning
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It is important to enable one, and only one, estimator.
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If more than one is enabled, the first to publish the UOrb topics [vehicle_attitude](../msg_docs/VehicleAttitude.md) or [vehicle_local_position](../msg_docs/VehicleLocalPosition.md) is used.
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如果没有启用，主题将不发布。
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:::
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:::info
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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`).
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这是因为 FMU-v2 不具有足够的资源同时包含这两个估计器。
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其他的 Pixhawk FMU 版本同时拥有两个估计器。
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:::
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