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f3e2a197ad
- 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>
7 lines
428 B
Plaintext
7 lines
428 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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float32 hpos_drift_rate # Horizontal position rate magnitude checked using EKF2_REQ_HDRIFT (m/s)
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float32 vpos_drift_rate # Vertical position rate magnitude checked using EKF2_REQ_VDRIFT (m/s)
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float32 hspd # Filtered horizontal velocity magnitude checked using EKF2_REQ_HDRIFT (m/s)
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bool blocked # true when drift calculation is blocked due to IMU movement check
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