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 |
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