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ekf2: change delta angle and delta velocity bias states to accel and gyro bias (#21901)

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* ekf2-test: remove outdated codegen comparison

The definition of states changed so the comparison with the old
derivation cannot work anymore.

---------

Co-authored-by: bresch <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar
2023-07-28 09:31:44 -04:00
committed by GitHub
co-authored by bresch
parent 444e5d2d4a
commit 84b6b472b4
27 changed files with 1452 additions and 2374 deletions
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src/modules/ekf2/EKF/common.h
+2 -2
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@@ -276,8 +276,8 @@ struct stateSample {
Quatf quat_nominal{}; ///< quaternion defining the rotation from body to earth frame
Vector3f vel{}; ///< NED velocity in earth frame in m/s
Vector3f pos{}; ///< NED position in earth frame in m
Vector3f delta_ang_bias{}; ///< delta angle bias estimate in rad
Vector3f delta_vel_bias{}; ///< delta velocity bias estimate in m/s
Vector3f gyro_bias{}; ///< gyro bias estimate in rad/s
Vector3f accel_bias{}; ///< accel bias estimate in m/s^2
Vector3f mag_I{}; ///< NED earth magnetic field in gauss
Vector3f mag_B{}; ///< magnetometer bias estimate in body frame in gauss
Vector2f wind_vel{}; ///< horizontal wind velocity in earth frame in m/s