* EKF: add test comparison program for GPS yaw fusion equations
* EKF: convert GPS yaw fusion method to use SymPy generated equations
* Replace if/else with simple if
* EKF: fix formatting of GPS yaw fusion auto-code comparison test
* EKF: Use SparseVector type for GPS yaw fusion Jacobians
* EKF: Fix bug in GPS yaw derivation comparison check
* Add gps_yaw auto generated code file
Co-authored-by: kamilritz <kritz@ethz.ch>
* EKF: Add comparison test for mag field fusion generated code
* EKF: convert mag field fusion to use SymPy generated code
* EKF: Add test comparison program for yaw fusion equations
* Stop setting 0 to 0
* Reduce if/else statement to only if
* EKF: more accurate implementation for sequential fusion of magnetometer data
* test: update change indicator
* Use matrix::SparseVector<float, 24, ...> for observation jacobian
* Adapt the auto code generation to allow for different bracket styles
* Add auto generated code for mag fusion
* Add generic computation of KHP
* Apply generic computation of KHP to mag fusion
* tests: update change indicator
* tests: update change indicator
Co-authored-by: kamilritz <kritz@ethz.ch>
Because the velocity starts with a positive value (down) to ramp-up
slowly the motors, the position setpoint (integral) was going down into
the ground, canceling the input of the velocity controller during the
early takeoff phase.
Instead of a smooth ramp, the behavior was a delay followed by a quick
takeoff or a land detection.
Setting the current altitude setpoint with the current altitude during
this phase avoids the canceling effect and creates a takeoff purely
velocity-based.
* EKF: Add sympy derivation of equations for EKF-GSF yaw estimator
* EKF: Convert EKF-GSF yaw estimator to use sympy generated equations
* EKF: Add status prints for GSF-EKF yaw estimator cvode gen
* EKF: Move generated code for GSF-EKF yaw estinmator to generated directory
* Make it run with python3
* Cleanup yaw estimator code generation
* Improve and simplify gsf measurement update code generation
* Use improved auto generated measurement update code
& remove obsolete updateInnovCovMatInv function
* Delete generated ekf_derivation for the moment
Co-authored-by: kamilritz <kritz@ethz.ch>
