3 Commits

Include renames

Author	SHA1	Message	Date
Daniel Agar	cea185268e	msg ROS2 compatibility, microdds_client improvements (timesync, reduced code size, added topics, etc), fastrtps purge ... - 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)	2022-10-19 19:36:47 -04:00
Daniel Agar	a397c09e59	ekf2: use estimator_aid_src for all yaw sources (mag, gnss, ev)	2022-07-29 11:20:48 -04:00
Daniel Agar	39453405a0	ekf2: cleanup zero innovation heading fusion ... - 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	2022-07-19 11:58:27 -04:00