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Update ecl to add ability to recover from bad magnetic yaw

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* msg: Add EKF-GSF yaw estimator logging data
* ecl: update to version with EKF-GSF yaw estimator
* ekf2: Add param control and logging for EKF-GSF yaw estimator
* logger: Add logging for EKF-GSF yaw esimtator
This commit is contained in:
Paul Riseborough
2020-03-15 12:57:25 -04:00
committed by GitHub
parent 422e89b1c0
commit ab92b46e69
8 changed files with 60 additions and 17 deletions
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msg/yaw_estimator_status.msg
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uint64 timestamp # time since system start (microseconds)
float32 yaw_composite # composite yaw from GSF (rad)
float32 yaw_variance # composite yaw variance from GSF (rad^2)
float32[5] yaw # yaw estimate for each model in the filter bank (rad)
float32[5] innov_vn # North velocity innovation for each model in the filter bank (m/s)
float32[5] innov_ve # East velocity innovation for each model in the filter bank (m/s)
float32[5] weight # weighting for each model in the filter bank