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ekf2 handle accelerometer clipping

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- track clipping per IMU axis and pass through to ecl/EKF
 - update ecl/EKF to include delta velocity clipping changes (PX4/ecl#663)
This commit is contained in:
Daniel Agar
2020-04-07 20:11:08 -04:00
committed by GitHub
parent 74aa3201ce
commit cf37be8c44
12 changed files with 101 additions and 36 deletions
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msg/sensor_accel_integrated.msg
+2 -1
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@@ -8,4 +8,5 @@ uint64 error_count
float32[3] delta_velocity # delta velocity in the NED board axis in m/s over the integration time frame (dt)
uint16 dt # integration time (microseconds)
uint8 samples # number of samples integrated
uint8 clip_count # total clip count per integration period on any axis
uint8[3] clip_counter # clip count per axis over the integration period