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Version: 1.5.0

PX4 RTK Knowledge Base

PX4 RTK Parameters for flight​

Following are the parameters that have to be changed to fly on the F9P Helical RTK system.

EKF2_GPS_P_NOISE = 0.2
EKF2_GPS_V_NOISE = 0.2
EKF2_HGT_REF = 1 to fly on GPS altitude
GPS_UBX_DYNMODEL = 8 for flying at the <4g civilian limit of accelerations

PX4 HW API Changes​

It was observed that on v1.14.0, the mavros topic /mavros/odometry/in used by the PX4 api.launch for new PX4 boards is providing velocity estimates in the wrong frame and angular velocities are noisy. So, it is recommended to move the api.launch topic remap to the /mavros/local_position/odom topic.

<remap if="$(eval arg('OLD_PX4_FW') == 0)" from="~mavros_local_position_in" to="mavros/local_position/odom" />
<remap if="$(eval arg('OLD_PX4_FW') == 1)" from="~mavros_local_position_in" to="mavros/local_position/odom" />

This allows you to fly on PX4's own odometry which has been verified by the agile team to be accurate to centimeters. gps_baro estimator does not fuse velocities and therefore, does not run into the issue of inconsistent velocities.