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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* ekf2-test: remove outdated codegen comparison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/drag_fusion.cpp
+1 -1
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@@ -110,7 +110,7 @@ void Ekf::fuseDrag(const dragSample &drag_sample)
// perform sequential fusion of XY specific forces
for (uint8_t axis_index = 0; axis_index < 2; axis_index++) {
// measured drag acceleration corrected for sensor bias
const float mea_acc = drag_sample.accelXY(axis_index) - _state.delta_vel_bias(axis_index) / _dt_ekf_avg;
const float mea_acc = drag_sample.accelXY(axis_index) - _state.accel_bias(axis_index);
// Drag is modelled as an arbitrary combination of bluff body drag that proportional to
// equivalent airspeed squared, and rotor momentum drag that is proportional to true airspeed