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ekf2: innovation sequence monitoring for all aid sources

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- add new 'innovation_filtered' and 'test_ratio_filtered' fields to
   estimator_aid_source topics
This commit is contained in:
Daniel Agar
2024-06-17 15:30:42 -04:00
parent 1c657a59b1
commit 206488b844
31 changed files with 540 additions and 549 deletions
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msg/EstimatorAidSource1d.msg
+5 -1
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@@ -11,8 +11,12 @@ float32 observation
float32 observation_variance
float32 innovation
float32 innovation_filtered
float32 innovation_variance
float32 test_ratio
float32 test_ratio # normalized innovation squared
float32 test_ratio_filtered # signed filtered test ratio
bool innovation_rejected # true if the observation has been rejected
bool fused # true if the sample was successfully fused