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feat(ekf2): absorb GPS altitude drift into origin instead of velocity fallback

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Marco Hauswirth
2026-04-09 18:37:20 +02:00
parent a0a900b0f0
commit f29c302e08
7 changed files with 5 additions and 36 deletions
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msg/versioned/VehicleLocalPosition.msg
-1
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@@ -45,7 +45,6 @@ float32 unaided_heading # Same as heading but generated by integ
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
bool altitude_good_for_local_control
float32 tilt_var