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EKF2: Added gravity innovations for logging.

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Signed-off-by: Daniel M. Sahu <danielmohansahu@gmail.com>
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Daniel M. Sahu
2023-02-01 10:30:55 -05:00
parent 3e09d9b678
commit 436f168188
3 changed files with 4 additions and 0 deletions
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msg/EstimatorInnovations.msg
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@@ -28,6 +28,7 @@ float32[2] terr_flow # flow innvoation (rad/sec) and innovation variance compute
# Various
float32 heading # heading innovation (rad) and innovation variance (rad**2)
float32[3] mag_field # earth magnetic field innovation (Gauss) and innovation variance (Gauss**2)
float32[3] gravity # gravity innovation from accelerometerr vector (m/s**2)
float32[2] drag # drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2)
float32 airspeed # airspeed innovation (m/sec) and innovation variance ((m/sec)**2)
float32 beta # synthetic sideslip innovation (rad) and innovation variance (rad**2)