Overview

The VEL parameter group (specifically VEL_M_NSE) configures the expected noise level of the velocity measurements within the EKF.

Key Concepts

VEL_M_NSE: Measurement noise for the velocity sensors (typically GPS).
- Higher values: Tells the EKF to trust the GPS velocity less (good for noisy environments).
- Lower values: Trusts the GPS velocity more (crisper position response but more susceptible to glitches).

Visual odometry velocity measurement noise m/s

Default 0.1

Range 0.05 5.0

Visual odometry velocity measurement noise in m/s.

This parameter sets the "Trust" level for the velocity reported by a Visual Odometry (VO) system (like Intel RealSense T265 or OpenMV).

Function: It tells the EKF how noisy the velocity data is.
Lower Value: The EKF trusts the visual odometry velocity more than other sensors (like GPS or IMU integration). Use this if your VO system is very accurate and stable.
Higher Value: The EKF trusts the visual odometry less. Use this if the VO system drifts or jumps frequently.