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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* ekf2-test: remove outdated codegen comparison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.h
+1 -2
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@@ -68,8 +68,7 @@ public:
const matrix::Vector3f &delta_velocity, const float delta_velocity_dt);
void correctOutputStates(const uint64_t time_delayed_us,
const matrix::Vector3f &gyro_bias, const matrix::Vector3f &accel_bias,
const matrix::Quatf &quat_state, const matrix::Vector3f &vel_state, const matrix::Vector3f &pos_state);
const matrix::Quatf &quat_state, const matrix::Vector3f &vel_state, const matrix::Vector3f &pos_state, const matrix::Vector3f &gyro_bias, const matrix::Vector3f &accel_bias);
void resetQuaternion(const matrix::Quatf &quat_change);