How to calculate a mask

This section attaches a python program that allows users to easily calculate their mask in standard or extended frame format by simply entering the CAN Ids as a vector. In addition, this program also converts each Id entered into binary.

download maskCalculator.py

An example of the execution of this program is shown below:


Example of maskCalculator program

What does decimation mean?

EKF implementation in Veronte Autopilot 1x algorithm means that only one sensor can enter per run step.

Therefore, if more than one sensor is read in the same GNC step, then the sensor with highest priority is the one introduced to the EKF. The rest of the sensor measurements will be introduced to the EKF in subsequent GNC steps according to their priority order.

The priority order of the sensors from highest to lowest priority is as follows:

  • GNSS position

  • GNSS velocity

  • Relative position sensor

  • GNSS compass

  • Magnetometer

  • Static pressure

  • Altimeter

  • Velocity down

  • Terrain mesh

Consequently, if there is a sensor with a high priority and it has a high refresh rate it may cause other sensors to never enter.

To avoid this, the parameter decimation has been introduced to discard a certain number of new measurements. That is, with decimation 10, only 1 out of 10 new measurements is entered.

It is recommended not to change the default values if users are not sure what they are doing.