- update all msgs to be directly compatible with ROS2
- microdds_client improvements
- timesync
- reduced code size
- add to most default builds if we can afford it
- lots of other little changes
- purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
ekf2: merge mag 3d innov var, Hx and Kx computation to reduce flash
Slightly less code produced, almost no performance change
ekf2_mag3D: do not pre-compute Kalman gains
The vector of Kalaman gains is not too expensive to compute using
matrix-vector multiplication. Pre-generating it using CSE takes a lot of
flash space for little benefit.
- a growing number of samples come into the backend with the time
already delayed (sensor's interrupt setting timestamp sample)
- if the incoming timestamp is already delayed then the new data checks
(relative to latest IMU) can be slightly wrong
- handle almost all timestamps and checks on delayed time horizon,
except for explicit checks of new samples
- isRecent() and isTimedOut() helpers use delayed time
- add new isNewestSampleRecent() used for checking the incoming
timestamp of the incoming (adjusted) data
- refactor updateQuaternion() to compute the yaw jacobian directly (respecting the rotation sequence determination)
- fuseHeading()/fuseYaw321()/fuseYaw312() helpers are eliminated and now mag heading fusion and EV yaw fusion compute the innovation in place
- clear up logic for performing zero innovation heading fusion when quaternion variance exceeds threshold (no more _is_yaw_fusion_inhibited flag manipulation)
- when at rest continue fusing last static heading with very low variance even if other heading sources are active
- remove class _mag_sample_delayed
- update mag fusion call graph to use mag sample delayed functionally
- Ekf::resetMagHeading()
- use low pass mag directly, but check if valid (magnitude)
- MAG_FUSE_TYPE_INDOOR treat like auto if heading required
bresch