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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* ekf2-test: remove outdated codegen comparison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/test/test_EKF_initialization.cpp
+2 -2
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@@ -120,13 +120,13 @@ public:
void learningCorrectAccelBias()
{
const Dcmf R_to_earth = Dcmf(_ekf->getQuaternion());
const Vector3f dvel_bias_var = _ekf_wrapper.getDeltaVelBiasVariance();
const Vector3f accel_bias_var = _ekf->getAccelBiasVariance();
const Vector3f accel_bias = _ekf->getAccelBias();
for (int i = 0; i < 3; i++) {
if (fabsf(R_to_earth(2, i)) > 0.8f) {
// Highly observable, the variance decreases
EXPECT_LT(dvel_bias_var(i), 4.0e-6f) << "axis " << i;
EXPECT_LT(accel_bias_var(i), 4.0e-2f) << "axis " << i;
}
EXPECT_LT(accel_bias(i), 4.0e-6f) << "axis " << i;