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ekf2: new gravity observation (#21038)

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Signed-off-by: Daniel M. Sahu <danielmohansahu@gmail.com>
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Daniel Sahu
2023-02-07 13:28:58 -05:00
committed by GitHub
parent 3e149ee6c5
commit fa6fda6cce
15 changed files with 456 additions and 7 deletions
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msg/EstimatorInnovations.msg
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@@ -28,6 +28,7 @@ float32[2] terr_flow # flow innvoation (rad/sec) and innovation variance compute
# Various
float32 heading # heading innovation (rad) and innovation variance (rad**2)
float32[3] mag_field # earth magnetic field innovation (Gauss) and innovation variance (Gauss**2)
float32[3] gravity # gravity innovation from accelerometerr vector (m/s**2)
float32[2] drag # drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2)
float32 airspeed # airspeed innovation (m/sec) and innovation variance ((m/sec)**2)
float32 beta # synthetic sideslip innovation (rad) and innovation variance (rad**2)