EK3_SRC parameters¶
16 parameters in the EK3_SRC family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.
EK3_SRC1_POSXY¶
Position Horizontal Source (Primary)
Position Horizontal Source (Primary)
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
GPS |
|
Beacon |
|
ExternalNav |
EK3_SRC1_POSZ¶
Position Vertical Source
Position Vertical Source
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
Baro |
|
RangeFinder |
|
GPS |
|
Beacon |
|
ExternalNav |
EK3_SRC1_VELXY¶
Velocity Horizontal Source
Velocity Horizontal Source
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
GPS |
|
Beacon |
|
OpticalFlow |
|
ExternalNav |
|
WheelEncoder |
EK3_SRC1_VELZ¶
Velocity Vertical Source
Velocity Vertical Source
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
GPS |
|
Beacon |
|
ExternalNav |
EK3_SRC1_YAW¶
Yaw Source
Yaw Source
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
Compass |
|
GPS |
|
GPS with Compass Fallback |
|
ExternalNav |
|
GSF |
EK3_SRC2_POSXY¶
Position Horizontal Source (Secondary)
Position Horizontal Source (Secondary)
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
GPS |
|
Beacon |
|
ExternalNav |
EK3_SRC2_POSZ¶
Position Vertical Source (Secondary)
Position Vertical Source (Secondary)
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
Baro |
|
RangeFinder |
|
GPS |
|
Beacon |
|
ExternalNav |
EK3_SRC2_VELXY¶
Velocity Horizontal Source (Secondary)
Velocity Horizontal Source (Secondary)
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
GPS |
|
Beacon |
|
OpticalFlow |
|
ExternalNav |
|
WheelEncoder |
EK3_SRC2_VELZ¶
Velocity Vertical Source (Secondary)
Velocity Vertical Source (Secondary)
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
GPS |
|
Beacon |
|
ExternalNav |
EK3_SRC2_YAW¶
Yaw Source (Secondary)
Yaw Source (Secondary)
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
Compass |
|
GPS |
|
GPS with Compass Fallback |
|
ExternalNav |
|
GSF |
EK3_SRC3_POSXY¶
Position Horizontal Source (Tertiary)
Position Horizontal Source (Tertiary)
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
GPS |
|
Beacon |
|
ExternalNav |
EK3_SRC3_POSZ¶
Position Vertical Source (Tertiary)
Position Vertical Source (Tertiary)
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
Baro |
|
RangeFinder |
|
GPS |
|
Beacon |
|
ExternalNav |
EK3_SRC3_VELXY¶
Velocity Horizontal Source (Tertiary)
Velocity Horizontal Source (Tertiary)
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
GPS |
|
Beacon |
|
OpticalFlow |
|
ExternalNav |
|
WheelEncoder |
EK3_SRC3_VELZ¶
Velocity Vertical Source (Tertiary)
Velocity Vertical Source (Tertiary)
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
GPS |
|
Beacon |
|
ExternalNav |
EK3_SRC3_YAW¶
Yaw Source (Tertiary)
Yaw Source (Tertiary)
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
Compass |
|
GPS |
|
GPS with Compass Fallback |
|
ExternalNav |
|
GSF |
EK3_SRC_OPTIONS¶
EKF Source Options
EKF Source Options. Bit 0: Fuse all velocity sources present in EK3_SRCx_VEL_. Bit 1: Align external navigation position when using optical flow. Bit 3: Use SRC per core. By default, EKF source selection is controlled via the EK3_SRC parameters, allowing only one source to be active at a time across all cores (switchable via MAVLink, Lua, or RC). Enabling this bit maps EKF core 1 to SRC1, core 2 to SRC2, etc., allowing each core to run independently with a dedicated source.
User level |
Advanced |
Bitmask¶
Value |
Meaning |
|---|---|
|
FuseAllVelocities |
|
AlignExtNavPosWhenUsingOptFlow |
|
UsePerCoreEKFSources |