4 Commits

Author	SHA1	Message	Date
Daniel Agar	a430f0ccae	ekf2: add simple zero velocity update when vehicle at rest (#19149) ... - further decreases initial tilt alignment time (now down to 2.5 seconds if still) and improves initial bias estimates	2022-03-12 12:56:31 -05:00
Daniel Agar	f3e2a197ad	move vehicle at rest detection ekf2 -> land_detector ... - move vehicle at reset detection ekf2 -> land_detector - ekf_unit: reduce init period - Fake fusion is when at rest is quite strong and makes the variance reduce rapidly. Reduce the amount of time we wait before checking if the variances are still large enough. - ekf_unit: reduce minimum vel/pos variance required after init - Fake pos fusion has a low observation noise, making the vel/pos variances reduce quickly. Co-authored-by:: bresch <brescianimathieu@gmail.com>	2022-02-01 17:50:19 -05:00
Daniel Agar	9ac860ac33	ekf2: test fix double promotion warnings	2021-07-18 15:49:53 -04:00
Daniel Agar	2cf66a5d8f	ekf2: move EKF out of ecl	2021-07-15 10:38:24 -04:00