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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 15:02:18 +01:00
committed by GitHub
parent d7f388e590
commit 0d6c2c8ce9
51 changed files with 2667 additions and 4089 deletions
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src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
-1
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@@ -750,7 +750,6 @@ void BlockLocalPositionEstimator::publishEstimatorStatus()
// replacing the hor wind cov with terrain altitude covariance
_pub_est_states.get().covariances[22] = m_P(X_tz, X_tz);
_pub_est_states.get().covariances[23] = NAN;
_pub_est_states.get().n_states = n_x;
_pub_est_states.get().timestamp = hrt_absolute_time();