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ekf2: store position state as lat/lon/alt

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The position error state is still defined in a body-fixed NED frame but the
position state itself is latitude-longitude-altitude.
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bresch
2024-11-22 15:13:47 +01:00
committed by Mathieu Bresciani
parent cf34b9d574
commit b19a6ee3b5
33 changed files with 783 additions and 348 deletions
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msg/EstimatorAidSource2d.msg
+1 -1
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@@ -7,7 +7,7 @@ uint32 device_id
uint64 time_last_fuse
float32[2] observation
float64[2] observation
float32[2] observation_variance
float32[2] innovation