EKF: Fix sign error in earth rotation rate correction (#763)

* EKF: Fix sign error in earth rotation rate correction

Addresses issue https://github.com/PX4/ecl/issues/759

* Update change indication output

Co-authored-by: kritz <kritz@ethz.ch>

EKF/ekf.cpp

@@ -245,8 +245,8 @@ void Ekf::predictState()
 	Vector3f corrected_delta_ang = _imu_sample_delayed.delta_ang - _state.delta_ang_bias;
 	const Vector3f corrected_delta_vel = _imu_sample_delayed.delta_vel - _state.delta_vel_bias;
 
-	// correct delta angles for earth rotation rate
-	corrected_delta_ang -= -_R_to_earth.transpose() * _earth_rate_NED * _imu_sample_delayed.delta_ang_dt;
+	// subtract component of angular rate due to earth rotation
+	corrected_delta_ang -= _R_to_earth.transpose() * _earth_rate_NED * _imu_sample_delayed.delta_ang_dt;
 
 	const Quatf dq(AxisAnglef{corrected_delta_ang});
 

test/change_indication/iris_gps.csv

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