This tool allows selecting the best fusion system parameters, for a given sensor configuration and a predefined real mission of UAV with a PX4 controller*, which does not require ground truth.
* Only for PX4 <= 5X
The inputs of this program are the logs of the flights performed with different values of fusion parameters for a designed mission.
The outputs are:
- The modified parameters.
- The rms of the innovations in each axis of: position, velocity and magnetometer.
- Different figures that allow to compare and visualize these metrics on each flight based on different aspects.
- Programs:
- Python == 3.8.10
- Required libraries*:
- pandas == 1.3.3
- navpy == 1.0
- matplotlib == 3.5.0b1
* for more information look requirements.txt file
