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ekf2: output predictor updates

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- merge OutputSample and outputVert
 - always check timestamps for any resets or corrections
 - output predictor no longer needs to be explicitly aligned
 - ekf2 only publish latest estimates if output predictor aligned
 - output predictor init immediately with EKF filter initialisation
This commit is contained in:
Daniel Agar
2023-09-19 13:18:32 -04:00
parent 7ac50a20b0
commit 303e1e5adb
6 changed files with 233 additions and 189 deletions
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integrationtests/python_src/px4_it/mavros/mission_test.py
+1 -1
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@@ -308,7 +308,7 @@ class MavrosMissionTest(MavrosTestCommon):
self.assertTrue(res['pitch_error_std'] < 5.0, str(res))
# TODO: fix by excluding initial heading init and reset preflight
self.assertTrue(res['yaw_error_std'] < 10.0, str(res))
self.assertTrue(res['yaw_error_std'] < 13.0, str(res))
if __name__ == '__main__':