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SITL: SIM_GPS_DISABLE should work when AHRS_EKF_TYPE = 10 #26926
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The "perfect" EKF type, 10, doesn't rely on sensors for data, it is just echoing back the simulation numbers. There's going to be a lot of things we'll ignore - all of the simulated sensor "dirtying" parameters, for example. SIM_GPS_DISABLE is just the most obvious one. We could add a set of flags to allow for changes in EKF-type-10's output? |
Thanks @peterbarker. I agree this could be a very large tasks so we should consider if it is worth the effort or if the user who reported this can perhaps find another solution instead. |
When AHRS_EKF_TYPE = 10 (SITL) the SIM_GPS_DISABLE parameter doesn't have the expected result (which is that the EKF should fail to produce a position estimate).
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