PX4-Autopilot/src/modules/ekf2/module.yaml

module_name: ekf2
parameters:
- group: EKF2
  definitions:
    EKF2_EN:
      description:
        short: EKF2 enable
      type: boolean
      default: 1
    EKF2_LOG_VERBOSE:
      description:
        short: Verbose logging
      type: boolean
      default: 1
    EKF2_PREDICT_US:
      description:
        short: EKF prediction period
        long: EKF prediction period in microseconds. This should ideally be an integer
          multiple of the IMU time delta. Actual filter update will be an integer
          multiple of IMU update.
      type: int32
      default: 10000
      min: 1000
      max: 20000
      unit: us
    EKF2_DELAY_MAX:
      description:
        short: Maximum delay of all the aiding sensors
        long: Defines the delay between the current time and the delayed-time horizon.
          This value should be at least as large as the largest EKF2_XXX_DELAY parameter.
      type: float
      default: 200
      min: 0
      max: 1000
      unit: ms
      reboot_required: true
      decimal: 1
    EKF2_ANGERR_INIT:
      description:
        short: 1-sigma tilt angle uncertainty after gravity vector alignment
      type: float
      default: 0.1
      min: 0.0
      max: 0.5
      unit: rad
      reboot_required: true
      decimal: 3
    EKF2_HDG_GATE:
      description:
        short: Gate size for heading fusion
        long: Sets the number of standard deviations used by the innovation consistency
          test.
      type: float
      default: 2.6
      min: 1.0
      unit: SD
      decimal: 1
    EKF2_HEAD_NOISE:
      description:
        short: Measurement noise for magnetic heading fusion
      type: float
      default: 0.3
      min: 0.01
      max: 1.0
      unit: rad
      decimal: 2
    EKF2_NOAID_NOISE:
      description:
        short: Measurement noise for non-aiding position hold
      type: float
      default: 10.0
      min: 0.5
      max: 50.0
      unit: m
      decimal: 1
    EKF2_NOAID_TOUT:
      description:
        short: Maximum inertial dead-reckoning time
        long: Maximum lapsed time from last fusion of measurements that constrain
          velocity drift before the EKF will report the horizontal nav solution as
          invalid
      type: int32
      default: 5000000
      min: 500000
      max: 10000000
      unit: us
    EKF2_HGT_REF:
      description:
        short: Determines the reference source of height data used by the EKF
        long: When multiple height sources are enabled at the same time, the height
          estimate will always converge towards the reference height source selected
          by this parameter. The range sensor and vision options should only be used
          when for operation over a flat surface as the local NED origin will move
          up and down with ground level.

          If GPS is set as reference and EKF2_GPS_CTRL is not 0, the GPS altitude is
          still used to initiaize the bias of the other height sensors, regardless of
          the altitude fusion bit in EKF2_GPS_CTRL.
      type: enum
      values:
        0: Barometric pressure
        1: GPS
        2: Range sensor
        3: Vision
      default: 1
      reboot_required: true
    EKF2_IMU_CTRL:
      description:
        short: IMU control
      type: bitmask
      bit:
        0: Gyro Bias
        1: Accel Bias
        2: Gravity vector fusion
      default: 7
      min: 0
      max: 7
    EKF2_GYR_NOISE:
      description:
        short: Rate gyro noise for covariance prediction
      type: float
      default: 0.015
      min: 0.0001
      max: 0.1
      unit: rad/s
      decimal: 4
    EKF2_ACC_NOISE:
      description:
        short: Accelerometer noise for covariance prediction
      type: float
      default: 0.35
      min: 0.01
      max: 1.0
      unit: m/s^2
      decimal: 2
    EKF2_IMU_POS_X:
      description:
        short: X position of IMU in body frame
        long: Forward axis with origin relative to vehicle centre of gravity
      type: float
      default: 0.0
      unit: m
      decimal: 3
    EKF2_IMU_POS_Y:
      description:
        short: Y position of IMU in body frame
        long: Forward axis with origin relative to vehicle centre of gravity
      type: float
      default: 0.0
      unit: m
      decimal: 3
    EKF2_IMU_POS_Z:
      description:
        short: Z position of IMU in body frame
        long: Forward axis with origin relative to vehicle centre of gravity
      type: float
      default: 0.0
      unit: m
      decimal: 3

    EKF2_TAU_VEL:
      description:
        short: Time constant of the velocity output prediction and smoothing filter
      type: float
      default: 0.25
      max: 1.0
      unit: s
      decimal: 2
    EKF2_TAU_POS:
      description:
        short: Output predictor position time constant
        long: Controls how tightly the output track the EKF states
      type: float
      default: 0.25
      min: 0.1
      max: 1.0
      unit: s
      decimal: 2

    EKF2_VEL_LIM:
      description:
        short: Velocity limit
      type: float
      default: 100
      max: 299792458
      unit: m/s
      decimal: 1

    EKF2_POS_LOCK:
      description:
        short: Enable constant position fusion while on ground
        long: When enabled, constant position fusion is enabled when the vehicle is landeded if position has been initialized but has currently no vel/pos aiding.
      type: boolean
      default: 0

    EKF2_SENS_EN:
      description:
        short: Sensor fusion enable bitmask
        long: Bitmask to control which sensor fusion sources are enabled.
          Sources whose bit is cleared will be disabled.
          Only applied while disarmed. For in-flight changes use the
          MAVLink command VEHICLE_CMD_ESTIMATOR_SENSOR_ENABLE or the
          individual CTRL params (e.g. EKF2_GPS_CTRL, EKF2_BARO_CTRL).
      type: bitmask
      bit:
        0: GNSS 0
        1: GNSS 1
        2: Optical flow
        3: External vision
        4: Aux global position 0
        5: Aux global position 1
        6: Aux global position 2
        7: Aux global position 3
        8: Barometer
        9: Range finder
        10: Magnetometer
        11: Airspeed
        12: Ranging beacon
      default: 8191
      min: 0
      max: 8191