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PX4's EKF2 replay module allows developers to tune estimator performance by re-running the EKF on prerecorded logs. This is useful for EKF2 development or for testing the impact of different parameters on performance. KEF robotics has patched the replay module so that replay progress can be controlled by an external program, enabling deterministic *integration* testing. We are using this patched replay module to test the integration of PX4 with an external vision navigation system.
We will cover: - Using the replay module to assess performance of different EKF2 parameters. - Development and testing considerations for a visual navigation system that integrates with PX4. - Modifying the replay module so that it can be deterministically 'stepped' in sync with an external program - Results from integration testing with the modified replay module
The audience will get a better understanding of the replay system, technical details on modifying the replay system for integration testing, and the benefits of integration testing with regard to visual navigation development with PX4. We will also share the patch we made to the replay system.
