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docs: switch lpe and ekf2 settings in aruco map navigation articles

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Oleg Kalachev
2020-05-21 21:01:16 +03:00
parent 22d5a356b6
commit 044d6c6d33
2 changed files with 15 additions and 15 deletions
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14
docs/en/aruco_map.md
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@@ -91,13 +91,6 @@ The marker map adheres to the [ROS coordinate system convention](http://www.ros.
In order to enable vision position estimation you should use the following [PX4 parameters](px4_parameters.md).
If you're using **EKF2** estimator (`SYS_MC_EST_GROUP` parameter is set to `ekf2`), make sure the following is set:
* `EKF2_AID_MASK` should have `vision position fusion` and `vision yaw fusion` flags set.
* Vision angle observations noise: `EKF2_EVA_NOISE` = 0.1 rad.
* Vision position observations noise: `EKF2_EVP_NOISE` = 0.1 m.
* `EKF2_EV_DELAY` = 0.
If you're using **LPE** (`SYS_MC_EST_GROUP` parameter is set to `local_position_estimator,attitude_estimator_q`):
* `LPE_FUSION` should have `vision position` and `land detector` flags set. We suggest unsetting the `baro` flag for indoor flights.
@@ -108,6 +101,13 @@ If you're using **LPE** (`SYS_MC_EST_GROUP` parameter is set to `local_position_
<!-- * Compass should not be fused: `ATT_W_MAG` = 0 -->
If you're using **EKF2** estimator (`SYS_MC_EST_GROUP` parameter is set to `ekf2`), make sure the following is set:
* `EKF2_AID_MASK` should have `vision position fusion` and `vision yaw fusion` flags set.
* Vision angle observations noise: `EKF2_EVA_NOISE` = 0.1 rad.
* Vision position observations noise: `EKF2_EVP_NOISE` = 0.1 m.
* `EKF2_EV_DELAY` = 0.
> **Hint** We recommend using **LPE** for marker-based navigation.
You may use [the `selfcheck.py` utility](selfcheck.md) to check your settings.