Get vehicle attitude
Is there a parameter I need, or a minimum number of sensors, to produce a vehicle_attitude message? I'm looking for a clean pitch/roll/yaw but it's not being published. I don't have a GPS/compass plugged in at the moment, but my gyros and IMU are calibrated.
Hey @Andrew-Keefe ,
What FW version are you running? Are you using vision features or just the flight controller?
By default, PX4 (and EKF2 by way of the ECL library) won't initialize without mag data.....
Our 1.10 release (we have a 1.11 release as well in 'beta') provides the ability to allow EKF2 to initialize without mag data. The 1.10 release needs "EV" data (external vision) but our 1.11 allows initialization even without EV data.
I branched off of version 1.0.
Just the flight controller, and honestly not really even that. Just the sensors. There is no vision. I will connect my compass and calibrate it and see if that does the trick. I'm on the bench so rotating the compass isn't always easy.
Yes I've had this issue myself. Here's were we tweak the ECL/EKF2 init:
You could hack at that code on your local branch and ignore mag totally and the estimator should get going (I'm more of a drivers guy and not a flight guy, so the ramifications of this are still in the air (no pun intended!))
That worked, and now I'm getting pitch from vehicle_attitude.
With the filter enabled though, PWM is also being enabled by the system, which is interfering with the code I wrote to manually control them. I'm getting chattering.