Ardupilot Patch

Github repo: https://github.com/Theseus-Dev/ardupilot-patches/tree/main

Patched ArduPlane 4.6.3 that initializes the EKF without GPS, VIO, or optical flow.

Flash

Grab the firmware for your board from https://github.com/Theseus-Dev/ardupilot-patches/releases/tag/4.6.3-1

• arduplane-4.6.3-CubeOrangePlus.apj

• arduplane-4.6.3-MatekH743.apj

• arduplane-4.6.3-CUAV-X7.apj

Load via Mission Planner → Install Firmware → Load custom firmware.

Set params

Parameter	Value
EK3_OPTIONS	8
GPS1_TYPE	0
ARSPD_USE	1
ARMING_CHECK	0

Init sequence (before arm)

1. SET_GPS_GLOBAL_ORIGIN(lat, lon, alt)

2. MAV_CMD_DO_SET_HOME(lat, lon, alt)

3. MAV_CMD_EXTERNAL_POSITION_ESTIMATE(lat, lon)

4. MAV_CMD_EXTERNAL_WIND_ESTIMATE(speed, direction)

We provide a script to send the proper sequence on ground Going forward, this will be added to Vozilla, but it is still in development.

In flight, Cyclops will send MAV_CMD_EXTERNAL_POSITION_ESTIMATE at your cruise cadence.

Confirm it worked

STATUSTEXT should print EKF3 IMU0 aiding from external pos and EKF3 IMU0 wind set N=… E=…. GLOBAL_POSITION_INT should report your origin, not 0/0.

In Flight

You will see a high (red) velocity innovation. This is because nothing is aiding that measurement. You should still be able to fly autonomously with the EKF