AP_NavEKF3: Allow disabling lane switching #29623
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rmackay9
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Mar 27, 2025
rmackay9
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Mar 27, 2025
rishabsingh3003
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| @@ -740,7 +740,7 @@ const AP_Param::GroupInfo NavEKF3::var_info2[] = { | |||
| // @Param: OPTIONS | |||
| // @DisplayName: Optional EKF behaviour | |||
| // @Description: This controls optional EKF behaviour. Setting JammingExpected will change the EKF nehaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3_GPS_CHECK and EK3_CHECK_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad | |||
| // @Bitmask: 0:JammingExpected | |||
| // @Bitmask: 0:JammingExpected, 1: Disable lane switching | |||
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needs a better description, and maybe "Manual lane switching" ?
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While doing EKF-based tests, this is helpful.
When the EK3_OPTIONS second bit is enabled, automatic lane switching will be disabled (unless the core becomes "unhealthy", which is very extreme and we should never be flying with that). And EK3_PRIMIARY core will be enforced. This also means we can select the active core from a Lua Script mid flight.
Might also have some use cases when lane switches are happening often because of small timing difference in the core. Example, flying with a single baro on a windy day and seeing lane switches isn't uncommon.
I personally also have a usecase for this PR where I am working on another branch that allows different types of sensors to be used in different lanes, for example GPS on lane 1, Ext Nav on lane 2. For testing Ext Nav, it'll be helpful to disable lane switching.