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ekf2: fix computation of tilt and yaw variances add them to logging

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Co-authored-by: bresch <bresch@users.noreply.github.com>
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Mathieu Bresciani
2024-01-24 12:14:15 -05:00
committed by GitHub
co-authored by bresch
parent da28d9a7f2
commit cb396a6339
6 changed files with 272 additions and 258 deletions
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msg/VehicleLocalPosition.msg
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@@ -38,11 +38,14 @@ float32 ay # East velocity derivative in NED earth-fixed frame, (metres/s
float32 az # Down velocity derivative in NED earth-fixed frame, (metres/sec^2)
float32 heading # Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians)
float32 heading_var
float32 unaided_heading # Same as heading but generated by integrating corrected gyro data only
float32 delta_heading # Heading delta caused by latest heading reset [rad]
uint8 heading_reset_counter # Index of latest heading reset
bool heading_good_for_control
float32 tilt_var
# Position of reference point (local NED frame origin) in global (GPS / WGS84) frame
bool xy_global # true if position (x, y) has a valid global reference (ref_lat, ref_lon)
bool z_global # true if z has a valid global reference (ref_alt)