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ardupilot/libraries/AP_Scripting/applets/ahrs-source-extnav-optflow.md
Peter Barker 7ceb7c31c7 global: fix whitespace issues in markdown files 
global: fix MD007 unordered list indentation in markdown files

Normalize unordered list indentation to use 2-space multiples:
- Top-level list items start at column 0
- Nested list items use 2 additional spaces per level

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

global: fix MD009 trailing whitespace in markdown files

Remove trailing whitespace from all affected markdown files.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

global: fix MD010 hard tabs in markdown files

Replace hard tab characters with 4 spaces.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

global: fix MD012 multiple consecutive blank lines in markdown

Collapse multiple consecutive blank lines to single blank lines
across all markdown files (excluding vendored code).

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

global: fix MD007 list indentation base level in markdown

Shift list indentation left by 2 spaces so top-level list items
start at column 0 instead of column 2.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD022 blank lines around headings in markdown

Ensure headings are surrounded by blank lines as required by
markdownlint MD022 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD032 blank lines around lists in markdown

Ensure lists are surrounded by blank lines as required by
markdownlint MD032 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD031 blank lines around code blocks in markdown

Ensure fenced code blocks are surrounded by blank lines as required
by markdownlint MD031 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD047 files should end with single newline

Ensure all markdown files end with exactly one newline character
as required by markdownlint MD047 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD023 headings must start at beginning of line

Remove leading whitespace from heading lines as required by
markdownlint MD023 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD007 remaining list indentation in markdown

Fix unordered list indentation to use correct spacing as required
by markdownlint MD007 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD030 spaces after list markers in markdown

Reduce multiple spaces after list markers to single space as
required by markdownlint MD030 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD022 blank lines around setext headings

Ensure setext-style headings (underlined with === or ---) are
surrounded by blank lines as required by markdownlint MD022 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD018 missing space after hash in headings

Add space after hash marks in atx-style headings as required by
markdownlint MD018 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD019 multiple spaces after hash in headings

Reduce multiple spaces after hash marks to single space in
atx-style headings as required by markdownlint MD019 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD012 multiple consecutive blank lines in markdown

Remove multiple consecutive blank lines and ensure files end with
exactly one newline as required by markdownlint MD012 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD023 headings with leading whitespace

Remove leading whitespace from setext-style heading text lines
as required by markdownlint MD023 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD022 blank line after heading in markdown

Add missing blank line after heading as required by markdownlint
MD022 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD009 trailing non-breaking space in markdown

Remove trailing non-breaking space (U+00A0) as required by
markdownlint MD009 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD012 remaining multiple blank lines in markdown

Remove leading blank lines and whitespace-only lines that create
multiple consecutive blank lines.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
2026-02-04 11:37:38 +11:00

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ExternalNav / Optical flow source switching

Switches between AHRS/EKF sources based on the pilot's source selection switch or using an automatic source selection algorithm This script is intended to help vehicles automatically switch between ExternalNav and optical flow

Parmeter Descriptions

-- ESRC_EXTN_THRESH : ExternalNav innovation threshold -- ESRC_EXTN_QUAL : ExternalNav quality threshold -- ESRC_FLOW_THRESH : OpticalFlow innovation threshold -- ESRC_FLOW_QUAL : OpticalFlow quality threshold -- ESRC_RNGFND_MAX : Rangefinder altitude threshold (in meters)

How to use

Configure a downward facing lidar with a range of at least 5m Set RCx_OPTION = 90 (EKF Source Set) to select the source (low=ExternalNav, middle=opticalflow, high=Not Used) Set RCx_OPTION = 300 (Scripting1). When this switch is pulled high, the source will be automatically selected Set SRC_ENABLE = 1 (enable scripting) Set EK3_SRCn_ parameters so that ExternalNav is the primary source, opticalflow is secondary

  • EK3_SRC1_POSXY = 6 (ExternalNav)
  • EK3_SRC1_VELXY = 6 (ExternalNav)
  • EK3_SRC1_VELZ = 6 (ExternalNav)
  • EK3_SRC1_POSZ = 6 (ExternalNav) or 1 (Baro)
  • EK3_SRC1_YAW = 6 (ExternalNav) or 1 (Compass)
  • EK3_SRC2_POSXY = 0 (None)
  • EK3_SRC2_VELXY = 5 (OpticalFlow)
  • EK3_SRC2_VELZ = 0 (None)
  • EK3_SRC2_POSZ = 1 (Baro)
  • EK3_SRC2_YAW = 1 (Compass)
  • EK3_SRC_OPTIONS = 0 (Do not fuse all velocities)

When the 2nd auxiliary switch (300/Scripting1) is pulled high automatic source selection is used based on the following criteria:

  • ESRC_EXTN_THRESH holds the threshold for ExternalNav innovation threshold (around 0.3 is a good choice)

  • ESRC_EXTN_QUAL holds the ExternalNav quality threshold (about 10 is a good choice)

  • ESRC_FLOW_QUAL holds the optical flow quality threshold (about 50 is a good choice)

  • ESRC_FLOW_THRESH holds the threshold for optical flow innovations (about 0.15 is a good choice)

  • ESRC_RNGFND_MAX holds the threshold (in meters) for rangefinder altitude

  • If ExternalNav's quality is above ESRC_EXTN_QUAL and innovations are below ESRC_EXTN_THRESH, ExternalNav is used

  • Optical flow is used if the above is not true and:

    • Quality is above ESRC_FLOW_QUAL
    • Innovations are below ESRC_FLOW_THRESH
    • Rangefinder distance is below ESRC_RNGFND_MAX
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