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* ekf derivation: change to error state formulation * ekf2: update auto-generated code for error-state * ekf2: adjust ekf2 code for error state formulation * ekf2_tests: adjust unit tests for error-state EKF * update change indicator for error-state EKF * ekf2_derivation: allow disabling mag and wind states --------- Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
8 lines
302 B
Plaintext
8 lines
302 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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float32[24] states # Internal filter states
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uint8 n_states # Number of states effectively used
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float32[23] covariances # Diagonal Elements of Covariance Matrix
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