11/11/2023 0 Comments License of expert gps and option code![]() An EKF lane can be setup to use either GPS and the whole EKF lane is then switched based on its health. Still allows falling back to the secondary GPS if 3D fix is lost on the primary.Īn additional variation with GPS switching is EKF3 affinity and lane switching. Using ‘Use best’ in this case would result in using the poorer quality GPS and result in more switching between GPS units. High quality GPS will often have a better quality fix even if it has fewer satellites. This should be used when two dissimilar GPS units are used, one high quality primary unit, and a secondary less accurate unit. ![]() Use primary GPS as set with GPS_PRIMARY if it has a 3D fix or better. When using two GPS units there are a number of switching options that can be selected with GPS_AUTO_SWITCH.Īlways use the primary GPS, this can be either the first or second as set with GPS_PRIMARYĪutomatically select the best GPS, this is done based on GPS fix status (2D / 3D / rtk) if both GPSs have the same fix status the one with the larger number of satellites is used.īlend is best suited for use with two identical GPS units, see GPS blending ![]()
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