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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* ekf2-test: remove outdated codegen comparison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/output_predictor.cpp
+1 -2
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@@ -240,8 +240,7 @@ void OutputPredictor::calculateOutputStates(const uint64_t time_us, const Vector
}
void OutputPredictor::correctOutputStates(const uint64_t time_delayed_us,
const matrix::Vector3f &gyro_bias, const matrix::Vector3f &accel_bias,
const Quatf &quat_state, const Vector3f &vel_state, const Vector3f &pos_state)
const Quatf &quat_state, const Vector3f &vel_state, const Vector3f &pos_state, const matrix::Vector3f &gyro_bias, const matrix::Vector3f &accel_bias)
{
// calculate an average filter update time
if (_time_last_correct_states_us != 0) {