VectorNav300 or MicroStrain
This will replace ArduPilot’s internally generated INS/AHRS subsystems with the external system
VN-300 Specific setup
When setting up the VN-300, it will be necessary to set GPS_TYPE = 21 and GPS_TYPE2 = 21.
VN-300 data is expected at two different update rates, 50Hz and 5Hz. This is autoconfigured. See the USER MANAUAL for more details.
VectorNav100
AHRS_EKF_TYPE = 3 (ArduPilot’s EKF3)
EAHRS_TYPE = 1 (VectorNAV)
EAHRS_OPTIONS bit 0 set to 1 (“1” value) to disable its compensation of the sensor biases, letting EKF3 do that (since there is no internal GPS to provide the best estimates)
This will replace ArduPilot’s internally generated INS/AHRS subsystems with the external system.
In addition, instead of replacing ArduPilot’s INS/AHRS systems, it is possible to use an external AHRS system’s sensors (IMU,GPS, Compass, and Barometer) as additional sensors for use with ArduPilot’s INS/AHRS systems. Simply do not change the AHRS_EKF_TYPE from “3” (EKF3), but setup the others parameters as discussed above.