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EKF2: Error-State Kalman Filter (#22262)

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* ekf derivation: change to error state formulation
* ekf2: update auto-generated code for error-state
* ekf2: adjust ekf2 code for error state formulation
* ekf2_tests: adjust unit tests for error-state EKF
* update change indicator for error-state EKF
* ekf2_derivation: allow disabling mag and wind states

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Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
This commit is contained in:
Mathieu Bresciani
2023-10-31 10:02:18 -04:00
committed by GitHub
co-authored by bresch
parent d7f388e590
commit 0d6c2c8ce9
51 changed files with 2667 additions and 4089 deletions
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msg/EstimatorStates.msg
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@@ -4,4 +4,4 @@ uint64 timestamp_sample # the timestamp of the raw data (microseconds)
float32[24] states # Internal filter states
uint8 n_states # Number of states effectively used
float32[24] covariances # Diagonal Elements of Covariance Matrix
float32[23] covariances # Diagonal Elements of Covariance Matrix