ekf2: fix computation of tilt and yaw variances #22674
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add them to logging
dagar
approved these changes
Jan 24, 2024
dagar
reviewed
Jan 24, 2024
| float32 unaided_heading # Same as heading but generated by integrating corrected gyro data only | ||
| float32 delta_heading # Heading delta caused by latest heading reset [rad] | ||
| uint8 heading_reset_counter # Index of latest heading reset | ||
| bool heading_good_for_control | ||
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| float32 tilt_var |
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I'll merge for now, but I think we should move this to vehicle_attitude instead.
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I convinced myself that it had its place in there because it's the uncertainty of the attitude defined in the local frame, but you're probably right
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Also log yaw and tilt variance