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ekf2: EV overhaul yaw and position fusion

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- new EV position offset estimator
 - yaw_align now strictly means north (no more rotate external vision aid mask)
 - automatically switching between EV yaw, and yaw align north based on
GPS quality
This commit is contained in:
Daniel Agar
2022-10-28 10:15:17 -04:00
parent 7750d610f1
commit 8ab65c84ce
34 changed files with 983 additions and 548 deletions
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msg/VehicleOdometry.msg
+1 -1
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@@ -28,4 +28,4 @@ uint8 reset_counter
int8 quality
# TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
# TOPICS estimator_odometry estimator_visual_odometry_aligned
# TOPICS estimator_odometry