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[WIP] ekf2: initial motion capture (mocap) support with new modular structure

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This commit is contained in:
Daniel Agar
2023-08-18 19:50:13 -04:00
parent 068b1494fc
commit 0c1535f3e4
15 changed files with 307 additions and 3 deletions
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msg/EstimatorAidSource1d.msg
+1
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@@ -21,4 +21,5 @@ bool fused # true if the sample was successfully fused
# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt
# TOPICS estimator_aid_src_airspeed estimator_aid_src_sideslip
# TOPICS estimator_aid_src_fake_hgt
# TOPICS estimator_aid_src_mocap_z estimator_aid_src_mocap_yaw
# TOPICS estimator_aid_src_mag_heading estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
msg/EstimatorAidSource2d.msg
+1 -1
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@@ -19,4 +19,4 @@ bool innovation_rejected # true if the observation has been rejected
bool fused # true if the sample was successfully fused
# TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos
# TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow estimator_aid_src_terrain_optical_flow
# TOPICS estimator_aid_src_aux_vel estimator_aid_src_mocap_xy estimator_aid_src_optical_flow estimator_aid_src_terrain_optical_flow