Doppler Motion Tracking Mode

Here we will add some more in depth content, but for now see The Doppler Motion Tracking Blog Post.

Ardupilot Parameters

Note: Some firmware versions may be missing parameters from this list.

Parameter	Value
EK3_ENABLE	Enabled
EK2_ENABLE	Disabled
AHRS_EKF_TYPE	Enable EKF3
VISO_TYPE	MAVLink
GPS_TYPE	AUTO
EK3_SRC1_POSXY	ExternalNav
EK3_SRC1_VELXY	ExternalNav
EK3_SRC1_POSZ	Baro

Suggested Starting PIDs

These values were tested on a BlueROV2 Heavy. The objective is to achieve smooth and predictable motion. Different vehicles and use-cases will require different tuning values.

Parameter	Value
PSC_POSXY_P	0.6
PSC_POSZ_P	1.0
PSC_VELXY_D	0.2
PSC_VELXY_I	0.02
PSC_VELXY_P	4.0
PSC_VELZ_P	5.0
ACRO_YAW_P	4
ATC_RAT_YAW_FLTE	5