Choosing best attitude data about data-driven-dynamics HOT 4 CLOSED

Okay thanks for the quick answer. That sounds quite interesting and makes a lot of sense. In my log (generated with the default multi-rotor) all 6 instances give the same output though.

For the moment I think i will stick to the EKF data, since the two are fairly similar and the EKF seems to update at a higher frequency:

Maybe the vehicle attitude is just a slower sampling of the EKF attitude, which could make sense for some applications. But it is a good point to keep in mind I think. Therefore, I leave the Issue open. :)

from data-driven-dynamics.

@manumerous

There are several quaternions in the estimator ( estimator_attitude.00, estimator_attitude.01, ..). Why are there 6 different attitude estimates?
Are those estimates the same? They seem to be from the log coming out of the simulation.

This is a "feature" called multi-EKF 😄 currently for SITL, all EKF instances (total of three) are all on the same IMU data, therefore the attitude estimate is the same. On real vehicles, different EKF instances run on different IMUs. Therefore, if one of them fail it falls back to the next EKF estimate. : PX4/PX4-Autopilot#14650

What is the difference between the estimator attitudes and the vehicle_attitude? The latter seems to be slightly different than the estimator attitudes.

This I am not sure, you might want to look into the code for that. It might be a internal attitude state vector that is being used around the system compared to the estimator_attitude topic is used to log what the estimator is doing.

from data-driven-dynamics.

@manumerous Looking at your plot, isnt the estimator attitude the slower one? It looks like a subsample of vehicle attitude

from data-driven-dynamics.

Yes sure, sorry I confused that. Thanks for pointing out.

from data-driven-dynamics.