4.6:extnav-optiflow-transitions

ArduPilot · Nov 13, 2024 · 3898ec0 · 3898ec0
1 parent 0a37e27
commit 3898ec0
Show file tree

Hide file tree

Showing 5 changed files with 37 additions and 0 deletions.
diff --git a/blimp/source/docs/getting-started.rst b/blimp/source/docs/getting-started.rst
@@ -54,6 +54,8 @@ For indoor use, please see :ref:`the non-GPS options. <common-non-gps-navigation
 .. image:: ../../../images/GPS_TopAndSide.jpg
     :target: ../_images/GPS_TopAndSide.jpg
 
+:ref:`common-ekf-sources` may be of interest also
+
 
 LiPo Batteries and Charger
 ==========================
@@ -121,3 +123,4 @@ For control and propulsion, the Flapping Fin Blimp uses micro servos, such as`th
     common-non-gps-navigation-landing-page
     common-rc-systems
     common-telemetry-landingpage
+    common-ekf-sources
diff --git a/common/source/docs/common-ekf-sources.rst b/common/source/docs/common-ekf-sources.rst
@@ -48,3 +48,23 @@ There is an option to fuse all sources of velocity into the EKF.  This will take
 
 .. warning:: When using this option, users should ensure that the velocity measurements being provided to the EKF are both in the same reference frame/co-ordinate system.
 
+.. _extnav-optiflow-transitions:
+
+ExternalNAV/Optical Flow Transitions
+====================================
+
+When switching between Optical Flow XY velocity and/or positioning as sources for EKF3 to an ExternalNAV source, such as 3D Camera, you can set :ref:`EK3_SRC_OPTIONS<EK3_SRC_OPTIONS>` bit 1 to keep the ExternalNAV aligned with the OpticalFlow to avoid position/velocity bumps upon switching.
+
+For example, you could setup a 3D camera as an external position and velocity source:
+
+- :ref:`EK3_SRC1_POSXY<EK3_SRC1_POSXY>` = 6 (ExternalNAV XY Position)
+- :ref:`EK3_SRC1_VELXY<EK3_SRC1_VELXY>` = 6 (ExternalNAV XY Velocity) (assuming the camera provides velocity reports)
+
+and OpticalFLow as the second source:
+
+- :ref:`EK3_SRC1_POSXY<EK3_SRC1_POSXY>` = 0 (None, position is relative when using OpticalFlow)
+- :ref:`EK3_SRC1_VELXY<EK3_SRC1_VELXY>` = 5 (OpticalFlow for XY velocity)
+
+and use an :ref:`auxiliary RC switch <common-auxiliary-functions>` to switch between the two.
+
+[copywiki destination="copter,plane,rover,blimp"]
diff --git a/common/source/docs/common-modalai-voxl.rst b/common/source/docs/common-modalai-voxl.rst
@@ -91,6 +91,11 @@ More details on :ref:`GPS/Non-GPS Transitions can be found here <common-non-gps-
 
 To use an optical flow and rangefinder for backup in case the VOXL fails, a Lua applet for `ExternalNav/Optical flow transitions is here <https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/applets/ahrs-source-extnav-optflow.lua>`__
 
+EKF3 Source Transitions with OpticalFlow
+========================================
+
+If switching between this and OpticalFlow is desired, see :ref:`extnav-optiflow-transitions`
+
 Videos
 ------
 

diff --git a/common/source/docs/common-vio-oak-d.rst b/common/source/docs/common-vio-oak-d.rst
@@ -114,4 +114,8 @@ For your first flight:
 
 If everything works as expected, next time you can arm and takeoff in Loiter mode.
 
+EKF3 Source Transitions with OpticalFlow
+========================================
+
+If switching between this and OpticalFlow is desired, see :ref:`extnav-optiflow-transitions`
 
diff --git a/common/source/docs/common-vio-tracking-camera.rst b/common/source/docs/common-vio-tracking-camera.rst
@@ -333,3 +333,8 @@ The script can be run automatically at boot time.
     systemctl start t265
 
     systemctl enable t265
+
+EKF3 Source Transitions with OpticalFlow
+========================================
+
+If switching between this and OpticalFlow is desired, see :ref:`extnav-optiflow-transitions`