This tool allows selecting the best fusion system parameters, for a given sensor configuration and a predefined real mission of UAV with a PX4 controller*, which does not require ground truth.

* Only for PX4 <= 5X

The inputs of this program are the logs of the flights performed with different values of fusion parameters for a designed mission.

The outputs are:

• The modified parameters.
• The rms of the innovations in each axis of: position, velocity and magnetometer.
• Different figures that allow to compare and visualize these metrics on each flight based on different aspects.

• Programs:
  • Python == 3.8.10
• Required libraries*:
  • pandas == 1.3.3
  • navpy == 1.0
  • matplotlib == 3.5.0b1

* for more information look requirements.txt file