Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Position Estimation from FAST-LIVO2 to px4 #94

Open
crazy-robotics opened this issue Feb 14, 2025 · 3 comments
Open

Position Estimation from FAST-LIVO2 to px4 #94

crazy-robotics opened this issue Feb 14, 2025 · 3 comments

Comments

@crazy-robotics
Copy link

I am using pixhawk 4 with px4 verison 1.15.2 , onboard computer jetson nano and Livox mid 360 Lidar trying to use FAST-LIVO2. But I dont know how to fuse external position from Livox mid 360 to Pixhawark. I read following discussion on external position with PX4 they say change the parameter EKF2_AID_MASK from 0 to 24 for external postion fuse to EKF2 but I dont' find EKF2_AID_MASK in my parameter list I share my parameter list below

# Onboard parameters for Vehicle 1
#
# Stack: PX4 Pro
# Vehicle: Unknown
# Version: 1.15.2 
# Git Revision: 4817c0618a000000
#
# Vehicle-Id Component-Id Name Value Type
ASPD_SCALE_1	1.000000000000000000	9
ATT_EN	0	6
BAT1_A_PER_V	36.367515563964843750	9
BAT1_CAPACITY	-1.000000000000000000	9
BAT1_I_CHANNEL	-1	6
BAT1_N_CELLS	0	6
BAT1_R_INTERNAL	0.004999999888241291	9
BAT1_SOURCE	0	6
BAT1_V_CHANNEL	-1	6
BAT1_V_CHARGED	4.050000190734863281	9
BAT1_V_DIV	18.100000381469726563	9
BAT1_V_EMPTY	3.599999904632568359	9
BAT1_V_LOAD_DROP	0.100000001490116119	9
BAT2_A_PER_V	36.367515563964843750	9
BAT2_CAPACITY	-1.000000000000000000	9
BAT2_I_CHANNEL	-1	6
BAT2_N_CELLS	0	6
BAT2_R_INTERNAL	0.004999999888241291	9
BAT2_SOURCE	-1	6
BAT2_V_CHANNEL	-1	6
BAT2_V_CHARGED	4.050000190734863281	9
BAT2_V_DIV	18.100000381469726563	9
BAT2_V_EMPTY	3.599999904632568359	9
BAT2_V_LOAD_DROP	0.100000001490116119	9
BATMON_DRIVER_EN	0	6
BAT_AVRG_CURRENT	15.000000000000000000	9
BAT_CRIT_THR	0.070000000298023224	9
BAT_EMERGEN_THR	0.050000000745058060	9
BAT_LOW_THR	0.150000005960464478	9
BAT_N_CELLS	3	6
BAT_V_CHARGED	4.050000190734863281	9
BAT_V_EMPTY	3.599999904632568359	9
BAT_V_LOAD_DROP	0.300000011920928955	9
BAT_V_OFFS_CURR	0.000000000000000000	9
CAL_ACC0_ID	3670026	6
CAL_ACC0_PRIO	50	6
CAL_ACC0_ROT	-1	6
CAL_ACC0_XOFF	0.135726585984230042	9
CAL_ACC0_XSCALE	1.000000000000000000	9
CAL_ACC0_YOFF	0.084648445248603821	9
CAL_ACC0_YSCALE	1.000000000000000000	9
CAL_ACC0_ZOFF	-0.074879199266433716	9
CAL_ACC0_ZSCALE	1.000000000000000000	9
CAL_ACC1_ID	3932170	6
CAL_ACC1_PRIO	50	6
CAL_ACC1_ROT	-1	6
CAL_ACC1_XOFF	0.137242138385772705	9
CAL_ACC1_XSCALE	1.000000000000000000	9
CAL_ACC1_YOFF	0.057041298598051071	9
CAL_ACC1_YSCALE	1.000000000000000000	9
CAL_ACC1_ZOFF	-0.305777311325073242	9
CAL_ACC1_ZSCALE	1.000000000000000000	9
CAL_ACC2_ID	0	6
CAL_ACC3_ID	0	6
CAL_AIR_CMODEL	0	6
CAL_AIR_TUBED_MM	1.500000000000000000	9
CAL_AIR_TUBELEN	0.200000002980232239	9
CAL_BARO0_ID	0	6
CAL_BARO1_ID	0	6
CAL_BARO2_ID	0	6
CAL_BARO3_ID	0	6
CAL_GYRO0_ID	3670026	6
CAL_GYRO0_PRIO	50	6
CAL_GYRO0_ROT	-1	6
CAL_GYRO0_XOFF	-0.009095278568565845	9
CAL_GYRO0_YOFF	0.011445863172411919	9
CAL_GYRO0_ZOFF	-0.001311208936385810	9
CAL_GYRO1_ID	3932170	6
CAL_GYRO1_PRIO	50	6
CAL_GYRO1_ROT	-1	6
CAL_GYRO1_XOFF	0.045027516782283783	9
CAL_GYRO1_YOFF	0.006419423501938581	9
CAL_GYRO1_ZOFF	0.009728308767080307	9
CAL_GYRO2_ID	0	6
CAL_GYRO3_ID	0	6
CAL_MAG0_ID	396825	6
CAL_MAG0_PITCH	0.000000000000000000	9
CAL_MAG0_PRIO	50	6
CAL_MAG0_ROLL	0.000000000000000000	9
CAL_MAG0_ROT	-1	6
CAL_MAG0_XCOMP	0.000000000000000000	9
CAL_MAG0_XODIAG	0.000000000000000000	9
CAL_MAG0_XOFF	0.038125377148389816	9
CAL_MAG0_XSCALE	1.000000000000000000	9
CAL_MAG0_YAW	0.000000000000000000	9
CAL_MAG0_YCOMP	0.000000000000000000	9
CAL_MAG0_YODIAG	0.000000000000000000	9
CAL_MAG0_YOFF	-0.148706734180450439	9
CAL_MAG0_YSCALE	1.000000000000000000	9
CAL_MAG0_ZCOMP	0.000000000000000000	9
CAL_MAG0_ZODIAG	0.000000000000000000	9
CAL_MAG0_ZOFF	-0.001039503957144916	9
CAL_MAG0_ZSCALE	1.000000000000000000	9
CAL_MAG1_ID	0	6
CAL_MAG1_ROT	-1	6
CAL_MAG2_ID	0	6
CAL_MAG2_ROT	-1	6
CAL_MAG3_ID	0	6
CAL_MAG3_ROT	-1	6
CAL_MAG_COMP_TYP	0	6
CAL_MAG_SIDES	63	6
CAM_CAP_FBACK	0	6
CBRK_BUZZER	0	6
CBRK_FLIGHTTERM	121212	6
CBRK_IO_SAFETY	22027	6
CBRK_SUPPLY_CHK	0	6
CBRK_USB_CHK	197848	6
CBRK_VTOLARMING	0	6
COM_ACT_FAIL_ACT	0	6
COM_ARMABLE	1	6
COM_ARM_AUTH_ID	10	6
COM_ARM_AUTH_MET	0	6
COM_ARM_AUTH_REQ	0	6
COM_ARM_AUTH_TO	1.000000000000000000	9
COM_ARM_BAT_MIN	0.000000000000000000	9
COM_ARM_CHK_ESCS	0	6
COM_ARM_EKF_HGT	1.000000000000000000	9
COM_ARM_EKF_POS	0.500000000000000000	9
COM_ARM_EKF_VEL	0.500000000000000000	9
COM_ARM_EKF_YAW	0.500000000000000000	9
COM_ARM_HFLT_CHK	1	6
COM_ARM_IMU_ACC	0.699999988079071045	9
COM_ARM_IMU_GYR	0.250000000000000000	9
COM_ARM_MAG_ANG	60	6
COM_ARM_MAG_STR	2	6
COM_ARM_MIS_REQ	0	6
COM_ARM_ODID	0	6
COM_ARM_SDCARD	1	6
COM_ARM_SWISBTN	0	6
COM_ARM_WO_GPS	1	6
COM_CPU_MAX	95.000000000000000000	9
COM_DISARM_LAND	2.000000000000000000	9
COM_DISARM_MAN	1	6
COM_DISARM_PRFLT	10.000000000000000000	9
COM_DL_LOSS_T	10	6
COM_FAIL_ACT_T	5.000000000000000000	9
COM_FLIGHT_UUID	207	6
COM_FLTMODE1	-1	6
COM_FLTMODE2	-1	6
COM_FLTMODE3	-1	6
COM_FLTMODE4	-1	6
COM_FLTMODE5	-1	6
COM_FLTMODE6	-1	6
COM_FLTT_LOW_ACT	3	6
COM_FLT_PROFILE	0	6
COM_FLT_TIME_MAX	-1	6
COM_FORCE_SAFETY	0	6
COM_HLDL_LOSS_T	120	6
COM_HLDL_REG_T	0	6
COM_HOME_EN	1	6
COM_HOME_IN_AIR	0	6
COM_IMB_PROP_ACT	0	6
COM_KILL_DISARM	5.000000000000000000	9
COM_LKDOWN_TKO	3.000000000000000000	9
COM_LOW_BAT_ACT	0	6
COM_MOT_TEST_EN	1	6
COM_OBC_LOSS_T	5.000000000000000000	9
COM_OBL_RC_ACT	0	6
COM_OBS_AVOID	0	6
COM_OF_LOSS_T	1.000000000000000000	9
COM_PARACHUTE	0	6
COM_POSCTL_NAVL	0	6
COM_POS_FS_DELAY	1	6
COM_POS_FS_EPH	5.000000000000000000	9
COM_POS_LOW_EPH	-1.000000000000000000	9
COM_POWER_COUNT	1	6
COM_PREARM_MODE	0	6
COM_QC_ACT	0	6
COM_RCL_EXCEPT	0	6
COM_RC_ARM_HYST	1000	6
COM_RC_IN_MODE	3	6
COM_RC_LOSS_T	0.500000000000000000	9
COM_RC_OVERRIDE	1	6
COM_RC_STICK_OV	30.000000000000000000	9
COM_SPOOLUP_TIME	1.000000000000000000	9
COM_TAKEOFF_ACT	0	6
COM_THROW_EN	0	6
COM_THROW_SPEED	5.000000000000000000	9
COM_VEL_FS_EVH	1.000000000000000000	9
COM_WIND_MAX	-1.000000000000000000	9
COM_WIND_MAX_ACT	0	6
COM_WIND_WARN	-1.000000000000000000	9
DSHOT_3D_DEAD_H	1000	6
DSHOT_3D_DEAD_L	1000	6
DSHOT_3D_ENABLE	0	6
DSHOT_MIN	0.054999999701976776	9
DSHOT_TEL_CFG	0	6
EKF2_ABIAS_INIT	0.200000002980232239	9
EKF2_ABL_ACCLIM	25.000000000000000000	9
EKF2_ABL_GYRLIM	3.000000000000000000	9
EKF2_ABL_LIM	0.400000005960464478	9
EKF2_ABL_TAU	0.500000000000000000	9
EKF2_ACC_B_NOISE	0.003000000026077032	9
EKF2_ACC_NOISE	0.349999994039535522	9
EKF2_ANGERR_INIT	0.100000001490116119	9
EKF2_ARSP_THR	0.000000000000000000	9
EKF2_ASPD_MAX	20.000000000000000000	9
EKF2_ASP_DELAY	100.000000000000000000	9
EKF2_AVEL_DELAY	5.000000000000000000	9
EKF2_BARO_CTRL	1	6
EKF2_BARO_DELAY	0.000000000000000000	9
EKF2_BARO_GATE	5.000000000000000000	9
EKF2_BARO_NOISE	3.500000000000000000	9
EKF2_BCOEF_X	100.000000000000000000	9
EKF2_BCOEF_Y	100.000000000000000000	9
EKF2_BETA_GATE	5.000000000000000000	9
EKF2_BETA_NOISE	0.300000011920928955	9
EKF2_DECL_TYPE	3	6
EKF2_DELAY_MAX	200.000000000000000000	9
EKF2_DRAG_CTRL	0	6
EKF2_DRAG_NOISE	2.500000000000000000	9
EKF2_EAS_NOISE	1.399999976158142090	9
EKF2_EN	1	6
EKF2_EVA_NOISE	0.100000001490116119	9
EKF2_EVP_GATE	5.000000000000000000	9
EKF2_EVP_NOISE	0.100000001490116119	9
EKF2_EVV_GATE	3.000000000000000000	9
EKF2_EVV_NOISE	0.100000001490116119	9
EKF2_EV_CTRL	15	6
EKF2_EV_DELAY	0.000000000000000000	9
EKF2_EV_NOISE_MD	0	6
EKF2_EV_POS_X	0.000000000000000000	9
EKF2_EV_POS_Y	0.000000000000000000	9
EKF2_EV_POS_Z	0.000000000000000000	9
EKF2_EV_QMIN	0	6
EKF2_FUSE_BETA	0	6
EKF2_GBIAS_INIT	0.100000001490116119	9
EKF2_GND_EFF_DZ	4.000000000000000000	9
EKF2_GND_MAX_HGT	0.500000000000000000	9
EKF2_GPS_CHECK	245	6
EKF2_GPS_CTRL	7	6
EKF2_GPS_DELAY	110.000000000000000000	9
EKF2_GPS_POS_X	0.000000000000000000	9
EKF2_GPS_POS_Y	0.000000000000000000	9
EKF2_GPS_POS_Z	0.000000000000000000	9
EKF2_GPS_P_GATE	5.000000000000000000	9
EKF2_GPS_P_NOISE	0.500000000000000000	9
EKF2_GPS_V_GATE	5.000000000000000000	9
EKF2_GPS_V_NOISE	0.300000011920928955	9
EKF2_GRAV_NOISE	1.000000000000000000	9
EKF2_GSF_TAS	15.000000000000000000	9
EKF2_GYR_B_LIM	0.150000005960464478	9
EKF2_GYR_B_NOISE	0.001000000047497451	9
EKF2_GYR_NOISE	0.014999999664723873	9
EKF2_HDG_GATE	2.599999904632568359	9
EKF2_HEAD_NOISE	0.300000011920928955	9
EKF2_HGT_REF	1	6
EKF2_IMU_CTRL	7	6
EKF2_IMU_POS_X	0.000000000000000000	9
EKF2_IMU_POS_Y	0.000000000000000000	9
EKF2_IMU_POS_Z	0.000000000000000000	9
EKF2_MAG_ACCLIM	0.500000000000000000	9
EKF2_MAG_B_NOISE	0.000099999997473788	9
EKF2_MAG_CHECK	1	6
EKF2_MAG_CHK_INC	20.000000000000000000	9
EKF2_MAG_CHK_STR	0.200000002980232239	9
EKF2_MAG_DECL	0.000000000000000000	9
EKF2_MAG_DELAY	0.000000000000000000	9
EKF2_MAG_E_NOISE	0.001000000047497451	9
EKF2_MAG_GATE	3.000000000000000000	9
EKF2_MAG_NOISE	0.050000000745058060	9
EKF2_MAG_TYPE	0	6
EKF2_MCOEF	0.150000005960464478	9
EKF2_MIN_RNG	0.100000001490116119	9
EKF2_MULTI_IMU	2	6
EKF2_NOAID_NOISE	10.000000000000000000	9
EKF2_NOAID_TOUT	5000000	6
EKF2_OF_CTRL	0	6
EKF2_OF_DELAY	20.000000000000000000	9
EKF2_OF_GATE	3.000000000000000000	9
EKF2_OF_N_MAX	0.500000000000000000	9
EKF2_OF_N_MIN	0.150000005960464478	9
EKF2_OF_POS_X	0.000000000000000000	9
EKF2_OF_POS_Y	0.000000000000000000	9
EKF2_OF_POS_Z	0.000000000000000000	9
EKF2_OF_QMIN	1	6
EKF2_OF_QMIN_GND	0	6
EKF2_PCOEF_XN	0.000000000000000000	9
EKF2_PCOEF_XP	0.000000000000000000	9
EKF2_PCOEF_YN	0.000000000000000000	9
EKF2_PCOEF_YP	0.000000000000000000	9
EKF2_PCOEF_Z	0.000000000000000000	9
EKF2_PREDICT_US	10000	6
EKF2_REQ_EPH	3.000000000000000000	9
EKF2_REQ_EPV	5.000000000000000000	9
EKF2_REQ_GPS_H	10.000000000000000000	9
EKF2_REQ_HDRIFT	0.100000001490116119	9
EKF2_REQ_NSATS	6	6
EKF2_REQ_PDOP	2.500000000000000000	9
EKF2_REQ_SACC	0.500000000000000000	9
EKF2_REQ_VDRIFT	0.200000002980232239	9
EKF2_RNG_A_HMAX	5.000000000000000000	9
EKF2_RNG_A_IGATE	1.000000000000000000	9
EKF2_RNG_A_VMAX	1.000000000000000000	9
EKF2_RNG_CTRL	1	6
EKF2_RNG_DELAY	5.000000000000000000	9
EKF2_RNG_GATE	5.000000000000000000	9
EKF2_RNG_K_GATE	1.000000000000000000	9
EKF2_RNG_NOISE	0.100000001490116119	9
EKF2_RNG_PITCH	0.000000000000000000	9
EKF2_RNG_POS_X	0.000000000000000000	9
EKF2_RNG_POS_Y	0.000000000000000000	9
EKF2_RNG_POS_Z	0.000000000000000000	9
EKF2_RNG_QLTY_T	1.000000000000000000	9
EKF2_RNG_SFE	0.050000000745058060	9
EKF2_SEL_ERR_RED	0.200000002980232239	9
EKF2_SEL_IMU_ACC	1.000000000000000000	9
EKF2_SEL_IMU_ANG	15.000000000000000000	9
EKF2_SEL_IMU_RAT	7.000000000000000000	9
EKF2_SEL_IMU_VEL	2.000000000000000000	9
EKF2_SYNT_MAG_Z	0	6
EKF2_TAS_GATE	5.000000000000000000	9
EKF2_TAU_POS	0.250000000000000000	9
EKF2_TAU_VEL	0.250000000000000000	9
EKF2_TERR_GRAD	0.500000000000000000	9
EKF2_TERR_MASK	3	6
EKF2_TERR_NOISE	5.000000000000000000	9
EKF2_WIND_NSD	0.050000000745058060	9
EV_TSK_RC_LOSS	0	6
EV_TSK_STAT_DIS	0	6
FD_ACT_EN	1	6
FD_ACT_MOT_C2T	2.000000000000000000	9
FD_ACT_MOT_THR	0.200000002980232239	9
FD_ACT_MOT_TOUT	100	6
FD_ESCS_EN	1	6
FD_EXT_ATS_EN	0	6
FD_EXT_ATS_TRIG	1900	6
FD_FAIL_P	60	6
FD_FAIL_P_TTRI	0.300000011920928955	9
FD_FAIL_R	60	6
FD_FAIL_R_TTRI	0.300000011920928955	9
FD_IMB_PROP_THR	30	6
FW_AIRSPD_MAX	20.000000000000000000	9
FW_AIRSPD_TRIM	15.000000000000000000	9
FW_T_CLMB_R_SP	3.000000000000000000	9
FW_T_SINK_R_SP	2.000000000000000000	9
GF_ACTION	2	6
GF_MAX_HOR_DIST	0.000000000000000000	9
GF_MAX_VER_DIST	0.000000000000000000	9
GF_PREDICT	0	6
GF_SOURCE	0	6
GND_SPEED_THR_SC	1.000000000000000000	9
GPS_1_CONFIG	201	6
GPS_1_GNSS	0	6
GPS_1_PROTOCOL	1	6
GPS_2_CONFIG	0	6
GPS_DUMP_COMM	0	6
GPS_SAT_INFO	0	6
GPS_UBX_BAUD2	230400	6
GPS_UBX_CFG_INTF	0	6
GPS_UBX_DYNMODEL	7	6
GPS_UBX_MODE	0	6
GPS_YAW_OFFSET	0.000000000000000000	9
IMU_ACCEL_CUTOFF	30.000000000000000000	9
IMU_DGYRO_CUTOFF	30.000000000000000000	9
IMU_GYRO_CAL_EN	1	6
IMU_GYRO_CUTOFF	40.000000000000000000	9
IMU_GYRO_DNF_BW	15.000000000000000000	9
IMU_GYRO_DNF_EN	0	6
IMU_GYRO_DNF_HMC	3	6
IMU_GYRO_DNF_MIN	25.000000000000000000	9
IMU_GYRO_NF0_BW	20.000000000000000000	9
IMU_GYRO_NF0_FRQ	0.000000000000000000	9
IMU_GYRO_NF1_BW	20.000000000000000000	9
IMU_GYRO_NF1_FRQ	0.000000000000000000	9
IMU_GYRO_RATEMAX	400	6
IMU_INTEG_RATE	200	6
LPE_EN	0	6
MAN_ARM_GESTURE	1	6
MAN_KILL_GEST_T	-1.000000000000000000	9
MAV_0_CONFIG	101	6
MAV_0_FLOW_CTRL	2	6
MAV_0_FORWARD	1	6
MAV_0_MODE	0	6
MAV_0_RADIO_CTL	1	6
MAV_0_RATE	1200	6
MAV_1_CONFIG	0	6
MAV_2_CONFIG	0	6
MAV_COMP_ID	1	6
MAV_FWDEXTSP	1	6
MAV_HASH_CHK_EN	1	6
MAV_HB_FORW_EN	1	6
MAV_PROTO_VER	0	6
MAV_RADIO_TOUT	5	6
MAV_SIK_RADIO_ID	0	6
MAV_SYS_ID	1	6
MAV_TYPE	0	6
MAV_USEHILGPS	0	6
MBE_ENABLE	1	6
MBE_LEARN_GAIN	18.000000000000000000	9
MC_AIRMODE	0	6
MC_AT_EN	1	6
MIS_DIST_1WP	900.000000000000000000	9
MIS_LND_ABRT_ALT	30	6
MIS_MNT_YAW_CTL	0	6
MIS_PD_TO	5.000000000000000000	9
MIS_TAKEOFF_ALT	2.500000000000000000	9
MIS_YAW_ERR	12.000000000000000000	9
MIS_YAW_TMT	-1.000000000000000000	9
MNT_MODE_IN	-1	6
MOT_POLE_COUNT	14	6
MOT_SLEW_MAX	0.000000000000000000	9
MPC_ACC_DOWN_MAX	3.000000000000000000	9
MPC_ACC_HOR	3.000000000000000000	9
MPC_ACC_HOR_MAX	5.000000000000000000	9
MPC_ACC_UP_MAX	4.000000000000000000	9
MPC_JERK_AUTO	4.000000000000000000	9
MPC_JERK_MAX	8.000000000000000000	9
MPC_LAND_SPEED	0.699999988079071045	9
MPC_XY_CRUISE	5.000000000000000000	9
MPC_Z_V_AUTO_DN	1.500000000000000000	9
MPC_Z_V_AUTO_UP	3.000000000000000000	9
MSP_OSD_CONFIG	0	6
NAV_ACC_RAD	10.000000000000000000	9
NAV_DLL_ACT	0	6
NAV_FORCE_VT	1	6
NAV_FW_ALTL_RAD	5.000000000000000000	9
NAV_FW_ALT_RAD	10.000000000000000000	9
NAV_LOITER_RAD	80.000000000000000000	9
NAV_MC_ALT_RAD	0.800000011920928955	9
NAV_MIN_LTR_ALT	-1.000000000000000000	9
NAV_RCL_ACT	2	6
NAV_TRAFF_AVOID	1	6
NAV_TRAFF_A_HOR	500.000000000000000000	9
NAV_TRAFF_A_VER	500.000000000000000000	9
NAV_TRAFF_COLL_T	60	6
PLD_BTOUT	5.000000000000000000	9
PLD_FAPPR_ALT	0.100000001490116119	9
PLD_HACC_RAD	0.200000002980232239	9
PLD_MAX_SRCH	3	6
PLD_SRCH_ALT	10.000000000000000000	9
PLD_SRCH_TOUT	10.000000000000000000	9
PWM_AUX_DIS1	1000	6
PWM_AUX_DIS10	1000	6
PWM_AUX_DIS11	1000	6
PWM_AUX_DIS2	1000	6
PWM_AUX_DIS3	1000	6
PWM_AUX_DIS4	1000	6
PWM_AUX_DIS5	1000	6
PWM_AUX_DIS6	1000	6
PWM_AUX_DIS7	1000	6
PWM_AUX_DIS8	1000	6
PWM_AUX_DIS9	1000	6
PWM_AUX_FAIL1	-1	6
PWM_AUX_FAIL10	-1	6
PWM_AUX_FAIL11	-1	6
PWM_AUX_FAIL2	-1	6
PWM_AUX_FAIL3	-1	6
PWM_AUX_FAIL4	-1	6
PWM_AUX_FAIL5	-1	6
PWM_AUX_FAIL6	-1	6
PWM_AUX_FAIL7	-1	6
PWM_AUX_FAIL8	-1	6
PWM_AUX_FAIL9	-1	6
PWM_AUX_FUNC1	0	6
PWM_AUX_FUNC10	0	6
PWM_AUX_FUNC11	0	6
PWM_AUX_FUNC2	0	6
PWM_AUX_FUNC3	0	6
PWM_AUX_FUNC4	0	6
PWM_AUX_FUNC5	0	6
PWM_AUX_FUNC6	0	6
PWM_AUX_FUNC7	0	6
PWM_AUX_FUNC8	0	6
PWM_AUX_FUNC9	0	6
PWM_AUX_MAX1	2000	6
PWM_AUX_MAX10	2000	6
PWM_AUX_MAX11	2000	6
PWM_AUX_MAX2	2000	6
PWM_AUX_MAX3	2000	6
PWM_AUX_MAX4	2000	6
PWM_AUX_MAX5	2000	6
PWM_AUX_MAX6	2000	6
PWM_AUX_MAX7	2000	6
PWM_AUX_MAX8	2000	6
PWM_AUX_MAX9	2000	6
PWM_AUX_MIN1	1000	6
PWM_AUX_MIN10	1000	6
PWM_AUX_MIN11	1000	6
PWM_AUX_MIN2	1000	6
PWM_AUX_MIN3	1000	6
PWM_AUX_MIN4	1000	6
PWM_AUX_MIN5	1000	6
PWM_AUX_MIN6	1000	6
PWM_AUX_MIN7	1000	6
PWM_AUX_MIN8	1000	6
PWM_AUX_MIN9	1000	6
PWM_AUX_REV	0	6
PWM_AUX_TIM0	400	6
PWM_AUX_TIM1	400	6
PWM_AUX_TIM2	400	6
PWM_AUX_TIM3	400	6
PWM_MAIN_DIS1	1000	6
PWM_MAIN_DIS2	1000	6
PWM_MAIN_DIS3	1000	6
PWM_MAIN_DIS4	1000	6
PWM_MAIN_DIS5	1000	6
PWM_MAIN_DIS6	1000	6
PWM_MAIN_DIS7	1000	6
PWM_MAIN_DIS8	1000	6
PWM_MAIN_FAIL1	-1	6
PWM_MAIN_FAIL2	-1	6
PWM_MAIN_FAIL3	-1	6
PWM_MAIN_FAIL4	-1	6
PWM_MAIN_FAIL5	-1	6
PWM_MAIN_FAIL6	-1	6
PWM_MAIN_FAIL7	-1	6
PWM_MAIN_FAIL8	-1	6
PWM_MAIN_FUNC1	0	6
PWM_MAIN_FUNC2	0	6
PWM_MAIN_FUNC3	0	6
PWM_MAIN_FUNC4	0	6
PWM_MAIN_FUNC5	0	6
PWM_MAIN_FUNC6	0	6
PWM_MAIN_FUNC7	0	6
PWM_MAIN_FUNC8	0	6
PWM_MAIN_MAX1	2000	6
PWM_MAIN_MAX2	2000	6
PWM_MAIN_MAX3	2000	6
PWM_MAIN_MAX4	2000	6
PWM_MAIN_MAX5	2000	6
PWM_MAIN_MAX6	2000	6
PWM_MAIN_MAX7	2000	6
PWM_MAIN_MAX8	2000	6
PWM_MAIN_MIN1	1000	6
PWM_MAIN_MIN2	1000	6
PWM_MAIN_MIN3	1000	6
PWM_MAIN_MIN4	1000	6
PWM_MAIN_MIN5	1000	6
PWM_MAIN_MIN6	1000	6
PWM_MAIN_MIN7	1000	6
PWM_MAIN_MIN8	1000	6
PWM_MAIN_REV	0	6
PWM_MAIN_TIM0	400	6
PWM_MAIN_TIM1	400	6
PWM_MAIN_TIM2	400	6
PWM_SBUS_MODE	0	6
RC10_DZ	0.000000000000000000	9
RC10_MAX	2000.000000000000000000	9
RC10_MIN	1000.000000000000000000	9
RC10_REV	1.000000000000000000	9
RC10_TRIM	1500.000000000000000000	9
RC11_DZ	0.000000000000000000	9
RC11_MAX	2000.000000000000000000	9
RC11_MIN	1000.000000000000000000	9
RC11_REV	1.000000000000000000	9
RC11_TRIM	1500.000000000000000000	9
RC12_DZ	0.000000000000000000	9
RC12_MAX	2000.000000000000000000	9
RC12_MIN	1000.000000000000000000	9
RC12_REV	1.000000000000000000	9
RC12_TRIM	1500.000000000000000000	9
RC13_DZ	0.000000000000000000	9
RC13_MAX	2000.000000000000000000	9
RC13_MIN	1000.000000000000000000	9
RC13_REV	1.000000000000000000	9
RC13_TRIM	1500.000000000000000000	9
RC14_DZ	0.000000000000000000	9
RC14_MAX	2000.000000000000000000	9
RC14_MIN	1000.000000000000000000	9
RC14_REV	1.000000000000000000	9
RC14_TRIM	1500.000000000000000000	9
RC15_DZ	0.000000000000000000	9
RC15_MAX	2000.000000000000000000	9
RC15_MIN	1000.000000000000000000	9
RC15_REV	1.000000000000000000	9
RC15_TRIM	1500.000000000000000000	9
RC16_DZ	0.000000000000000000	9
RC16_MAX	2000.000000000000000000	9
RC16_MIN	1000.000000000000000000	9
RC16_REV	1.000000000000000000	9
RC16_TRIM	1500.000000000000000000	9
RC17_DZ	0.000000000000000000	9
RC17_MAX	2000.000000000000000000	9
RC17_MIN	1000.000000000000000000	9
RC17_REV	1.000000000000000000	9
RC17_TRIM	1500.000000000000000000	9
RC18_DZ	0.000000000000000000	9
RC18_MAX	2000.000000000000000000	9
RC18_MIN	1000.000000000000000000	9
RC18_REV	1.000000000000000000	9
RC18_TRIM	1500.000000000000000000	9
RC1_DZ	10.000000000000000000	9
RC1_MAX	2000.000000000000000000	9
RC1_MIN	1000.000000000000000000	9
RC1_REV	1.000000000000000000	9
RC1_TRIM	1500.000000000000000000	9
RC2_DZ	10.000000000000000000	9
RC2_MAX	2000.000000000000000000	9
RC2_MIN	1000.000000000000000000	9
RC2_REV	1.000000000000000000	9
RC2_TRIM	1500.000000000000000000	9
RC3_DZ	10.000000000000000000	9
RC3_MAX	2000.000000000000000000	9
RC3_MIN	1000.000000000000000000	9
RC3_REV	1.000000000000000000	9
RC3_TRIM	1500.000000000000000000	9
RC4_DZ	10.000000000000000000	9
RC4_MAX	2000.000000000000000000	9
RC4_MIN	1000.000000000000000000	9
RC4_REV	1.000000000000000000	9
RC4_TRIM	1500.000000000000000000	9
RC5_DZ	10.000000000000000000	9
RC5_MAX	2000.000000000000000000	9
RC5_MIN	1000.000000000000000000	9
RC5_REV	1.000000000000000000	9
RC5_TRIM	1500.000000000000000000	9
RC6_DZ	10.000000000000000000	9
RC6_MAX	2000.000000000000000000	9
RC6_MIN	1000.000000000000000000	9
RC6_REV	1.000000000000000000	9
RC6_TRIM	1500.000000000000000000	9
RC7_DZ	10.000000000000000000	9
RC7_MAX	2000.000000000000000000	9
RC7_MIN	1000.000000000000000000	9
RC7_REV	1.000000000000000000	9
RC7_TRIM	1500.000000000000000000	9
RC8_DZ	10.000000000000000000	9
RC8_MAX	2000.000000000000000000	9
RC8_MIN	1000.000000000000000000	9
RC8_REV	1.000000000000000000	9
RC8_TRIM	1500.000000000000000000	9
RC9_DZ	0.000000000000000000	9
RC9_MAX	2000.000000000000000000	9
RC9_MIN	1000.000000000000000000	9
RC9_REV	1.000000000000000000	9
RC9_TRIM	1500.000000000000000000	9
RC_ARMSWITCH_TH	0.750000000000000000	9
RC_CHAN_CNT	0	6
RC_CRSF_PRT_CFG	0	6
RC_ENG_MOT_TH	0.750000000000000000	9
RC_FAILS_THR	0	6
RC_GEAR_TH	0.750000000000000000	9
RC_INPUT_PROTO	-1	6
RC_KILLSWITCH_TH	0.750000000000000000	9
RC_LOITER_TH	0.750000000000000000	9
RC_MAP_ACRO_SW	0	6
RC_MAP_ARM_SW	0	6
RC_MAP_AUX1	0	6
RC_MAP_AUX2	0	6
RC_MAP_AUX3	0	6
RC_MAP_AUX4	0	6
RC_MAP_AUX5	0	6
RC_MAP_AUX6	0	6
RC_MAP_ENG_MOT	0	6
RC_MAP_FAILSAFE	0	6
RC_MAP_FLAPS	0	6
RC_MAP_FLTMODE	0	6
RC_MAP_FLTM_BTN	0	6
RC_MAP_GEAR_SW	0	6
RC_MAP_KILL_SW	0	6
RC_MAP_LOITER_SW	0	6
RC_MAP_MAN_SW	0	6
RC_MAP_MODE_SW	0	6
RC_MAP_OFFB_SW	0	6
RC_MAP_PARAM1	0	6
RC_MAP_PARAM2	0	6
RC_MAP_PARAM3	0	6
RC_MAP_PITCH	0	6
RC_MAP_POSCTL_SW	0	6
RC_MAP_RATT_SW	0	6
RC_MAP_RETURN_SW	0	6
RC_MAP_ROLL	0	6
RC_MAP_STAB_SW	0	6
RC_MAP_THROTTLE	0	6
RC_MAP_TRANS_SW	0	6
RC_MAP_YAW	0	6
RC_OFFB_TH	0.750000000000000000	9
RC_PORT_CONFIG	0	6
RC_RETURN_TH	0.750000000000000000	9
RC_RSSI_PWM_CHAN	0	6
RC_RSSI_PWM_MAX	2000	6
RC_RSSI_PWM_MIN	1000	6
RC_TRANS_TH	0.750000000000000000	9
RTL_APPR_FORCE	0	6
RTL_CONE_ANG	45	6
RTL_DESCEND_ALT	30.000000000000000000	9
RTL_LAND_DELAY	0.000000000000000000	9
RTL_LOITER_RAD	80.000000000000000000	9
RTL_MIN_DIST	10.000000000000000000	9
RTL_PLD_MD	0	6
RTL_RETURN_ALT	60.000000000000000000	9
RTL_TIME_FACTOR	1.100000023841857910	9
RTL_TIME_MARGIN	100	6
RTL_TYPE	0	6
SDLOG_BOOT_BAT	0	6
SDLOG_DIRS_MAX	0	6
SDLOG_MISSION	0	6
SDLOG_MODE	0	6
SDLOG_PROFILE	1	6
SDLOG_UTC_OFFSET	0	6
SDLOG_UUID	1	6
SENS_BARO_QNH	1013.250000000000000000	9
SENS_BARO_RATE	20.000000000000000000	9
SENS_BOARD_ROT	0	6
SENS_BOARD_X_OFF	0.000000000000000000	9
SENS_BOARD_Y_OFF	0.000000000000000000	9
SENS_BOARD_Z_OFF	0.000000000000000000	9
SENS_CM8JL65_CFG	0	6
SENS_DPRES_OFF	0.000000000000000000	9
SENS_EN_ADIS164X	0	6
SENS_EN_BATT	0	6
SENS_EN_IRLOCK	0	6
SENS_EN_LL40LS	0	6
SENS_EN_MB12XX	0	6
SENS_EN_MS4525DO	0	6
SENS_EN_MS5525DS	0	6
SENS_EN_PAA3905	0	6
SENS_EN_PAW3902	0	6
SENS_EN_PMW3901	0	6
SENS_EN_PX4FLOW	0	6
SENS_EN_SDP3X	0	6
SENS_EN_SF1XX	0	6
SENS_EN_SHT3X	0	6
SENS_EN_SPL06	0	6
SENS_EN_TF02PRO	0	6
SENS_EN_THERMAL	-1	6
SENS_EN_TRANGER	0	6
SENS_EN_VL53L0X	0	6
SENS_EN_VL53L1X	0	6
SENS_EXT_I2C_PRB	1	6
SENS_GPS_MASK	7	6
SENS_GPS_PRIME	0	6
SENS_GPS_TAU	10.000000000000000000	9
SENS_IMU_AUTOCAL	1	6
SENS_IMU_CLPNOTI	1	6
SENS_IMU_MODE	0	6
SENS_LEDDAR1_CFG	0	6
SENS_MAG_AUTOCAL	1	6
SENS_MAG_AUTOROT	1	6
SENS_MAG_MODE	1	6
SENS_MAG_RATE	15.000000000000000000	9
SENS_MAG_SIDES	63	6
SENS_SF0X_CFG	0	6
SENS_TFLOW_CFG	0	6
SENS_TFMINI_CFG	0	6
SENS_ULAND_CFG	0	6
SER_GPS1_BAUD	0	6
SER_TEL1_BAUD	57600	6
SYS_AUTOCONFIG	0	6
SYS_AUTOSTART	0	6
SYS_CAL_ACCEL	0	6
SYS_CAL_BARO	0	6
SYS_CAL_GYRO	0	6
SYS_CAL_TDEL	24	6
SYS_CAL_TMAX	10	6
SYS_CAL_TMIN	5	6
SYS_DM_BACKEND	0	6
SYS_FAC_CAL_MODE	0	6
SYS_FAILURE_EN	0	6
SYS_HAS_BARO	1	6
SYS_HAS_GPS	1	6
SYS_HAS_MAG	1	6
SYS_HAS_NUM_ASPD	0	6
SYS_HAS_NUM_DIST	0	6
SYS_HITL	0	6
SYS_RGB_MAXBRT	1.000000000000000000	9
SYS_STCK_EN	1	6
SYS_USB_AUTO	2	6
TC_A_ENABLE	0	6
TC_B_ENABLE	0	6
TC_G_ENABLE	0	6
TC_M_ENABLE	0	6
TEL_BST_EN	0	6
TEL_FRSKY_CONFIG	0	6
TEL_HOTT_CONFIG	0	6
THR_MDL_FAC	0.000000000000000000	9
TRIG_MODE	0	6
UAVCAN_BITRATE	1000000	6
UAVCAN_EC_FAIL1	-1	6
UAVCAN_EC_FAIL2	-1	6
UAVCAN_EC_FAIL3	-1	6
UAVCAN_EC_FAIL4	-1	6
UAVCAN_EC_FAIL5	-1	6
UAVCAN_EC_FAIL6	-1	6
UAVCAN_EC_FAIL7	-1	6
UAVCAN_EC_FAIL8	-1	6
UAVCAN_EC_FUNC1	0	6
UAVCAN_EC_FUNC2	0	6
UAVCAN_EC_FUNC3	0	6
UAVCAN_EC_FUNC4	0	6
UAVCAN_EC_FUNC5	0	6
UAVCAN_EC_FUNC6	0	6
UAVCAN_EC_FUNC7	0	6
UAVCAN_EC_FUNC8	0	6
UAVCAN_EC_MAX1	8191	6
UAVCAN_EC_MAX2	8191	6
UAVCAN_EC_MAX3	8191	6
UAVCAN_EC_MAX4	8191	6
UAVCAN_EC_MAX5	8191	6
UAVCAN_EC_MAX6	8191	6
UAVCAN_EC_MAX7	8191	6
UAVCAN_EC_MAX8	8191	6
UAVCAN_EC_MIN1	1	6
UAVCAN_EC_MIN2	1	6
UAVCAN_EC_MIN3	1	6
UAVCAN_EC_MIN4	1	6
UAVCAN_EC_MIN5	1	6
UAVCAN_EC_MIN6	1	6
UAVCAN_EC_MIN7	1	6
UAVCAN_EC_MIN8	1	6
UAVCAN_EC_REV	0	6
UAVCAN_ENABLE	2	6
UAVCAN_LGT_ANTCL	2	6
UAVCAN_LGT_LAND	0	6
UAVCAN_LGT_NAV	3	6
UAVCAN_LGT_STROB	1	6
UAVCAN_NODE_ID	1	6
UAVCAN_PUB_ARM	0	6
UAVCAN_PUB_MBD	0	6
UAVCAN_PUB_RTCM	0	6
UAVCAN_SUB_ASPD	0	6
UAVCAN_SUB_BARO	0	6
UAVCAN_SUB_BAT	0	6
UAVCAN_SUB_BTN	0	6
UAVCAN_SUB_DPRES	0	6
UAVCAN_SUB_FLOW	0	6
UAVCAN_SUB_GPS	1	6
UAVCAN_SUB_GPS_R	1	6
UAVCAN_SUB_HYGRO	0	6
UAVCAN_SUB_ICE	0	6
UAVCAN_SUB_IMU	0	6
UAVCAN_SUB_MAG	1	6
UAVCAN_SUB_RNG	0	6
UAVCAN_SV_DIS1	500	6
UAVCAN_SV_DIS2	500	6
UAVCAN_SV_DIS3	500	6
UAVCAN_SV_DIS4	500	6
UAVCAN_SV_DIS5	500	6
UAVCAN_SV_DIS6	500	6
UAVCAN_SV_DIS7	500	6
UAVCAN_SV_DIS8	500	6
UAVCAN_SV_FAIL1	-1	6
UAVCAN_SV_FAIL2	-1	6
UAVCAN_SV_FAIL3	-1	6
UAVCAN_SV_FAIL4	-1	6
UAVCAN_SV_FAIL5	-1	6
UAVCAN_SV_FAIL6	-1	6
UAVCAN_SV_FAIL7	-1	6
UAVCAN_SV_FAIL8	-1	6
UAVCAN_SV_FUNC1	0	6
UAVCAN_SV_FUNC2	0	6
UAVCAN_SV_FUNC3	0	6
UAVCAN_SV_FUNC4	0	6
UAVCAN_SV_FUNC5	0	6
UAVCAN_SV_FUNC6	0	6
UAVCAN_SV_FUNC7	0	6
UAVCAN_SV_FUNC8	0	6
UAVCAN_SV_MAX1	1000	6
UAVCAN_SV_MAX2	1000	6
UAVCAN_SV_MAX3	1000	6
UAVCAN_SV_MAX4	1000	6
UAVCAN_SV_MAX5	1000	6
UAVCAN_SV_MAX6	1000	6
UAVCAN_SV_MAX7	1000	6
UAVCAN_SV_MAX8	1000	6
UAVCAN_SV_MIN1	0	6
UAVCAN_SV_MIN2	0	6
UAVCAN_SV_MIN3	0	6
UAVCAN_SV_MIN4	0	6
UAVCAN_SV_MIN5	0	6
UAVCAN_SV_MIN6	0	6
UAVCAN_SV_MIN7	0	6
UAVCAN_SV_MIN8	0	6
UAVCAN_SV_REV	0	6
USB_MAV_MODE	2	6
UXRCE_DDS_CFG	0	6
VT_B_DEC_MSS	2.000000000000000000	9
WV_EN
@xuankuzcr
Copy link
Member

Perhaps you should upgrade the PX4 firmware: use the latest PX4 version (1.15.3 or newer) to access EKF2_AID_MASK.

@crazy-robotics
Copy link
Author

crazy-robotics commented Feb 18, 2025 •
edited
Loading

Perhaps you should upgrade the PX4 firmware: use the latest PX4 version (1.15.3 or newer) to access EKF2_AID_MASK.

@xuankuzcr I have changed the following parameter EKF2_EV_CTRL , EKF2_HGT_REF , EKF2_EV_DELAY , EKF2_EV_POS_X , EKF2_EV_POS_Y, EKF2_EV_POS_Z in PX4 V 1.15.2 which is mention in following doc Vision or Motion Capture Systems for Position Estimation but how can I pass the Position estimate from FAST-LIVO2 to PX4

@xuankuzcr
Copy link
Member

Using /mavros/vision_pose/pose provided by FAST-LIVO2 is sufficient. MAVROS will automatically convert the data from this topic into a VISION_POSITION_ESTIMATE MAVLink message and send it to PX4.

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
2 participants
@xuankuzcr @crazy-robotics