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.

ParameterValue

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.

ParameterValue

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

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