Mathieu Bresciani 37d9cef262

ekf: disable xy accel bias learning before takeoff (#818) ...

* ekf: disable xy accel bias learning before takeoff

As those biases are usually poorly observable before takeoff because
they are almost perpendicular to the gravity vector, learning is often
driven by noise and numerical issues. This results in incorrect bias
learning before takeoff when the drone is static on ground for a long
period of time.

* ekf: update unit test and change indicator

2020-05-19 18:02:40 +10:00

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iris_gps.csv

ekf: disable xy accel bias learning before takeoff (#818)

2020-05-19 18:02:40 +10:00