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feat(ekf2): gnss altitude correction-drift detector

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Marco Hauswirth
2026-03-25 13:44:10 +01:00
parent f573dec0d9
commit 7e4132a006
8 changed files with 166 additions and 74 deletions
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msg/versioned/VehicleLocalPosition.msg
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@@ -45,6 +45,7 @@ float32 unaided_heading # Same as heading but generated by integ
float32 delta_heading # Heading delta caused by latest heading reset [rad]
uint8 heading_reset_counter # Index of latest heading reset
bool heading_good_for_control
bool altitude_good_for_local_control
float32 tilt_var