[WIP] ekf2: EKF init immediately on first IMU sample#24046
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[WIP] ekf2: EKF init immediately on first IMU sample#24046
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- tilt init use filtered accel/gyro on delayed time horizon - publish estimator_status on every EKF update (even if !_filter_initialised)
FLASH Analysispx4_fmu-v5xpx4_fmu-v6xUpdated: 2024-11-27T22:44:49 |
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bresch
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Jan 10, 2025
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It's a nice cleanup, we shouldn't forget about this PR
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| } else { | ||
| // if filter not initialized | ||
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is this the only missing piece of this PR?
| _is_first_imu_sample = false; | ||
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| _state = {}; | ||
| initialiseTilt(_accel_lpf.getState()); |
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Is this to get a tilt estimate even if accel norm is > 20% longer or smaller than 1g?
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| updateIMUBiasInhibit(imu_sample_delayed); |
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Why running the state and covariance prediction if the filter is not initialized?
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This pull request has been automatically closed due to 120 days of inactivity. If you would like to continue, please feel free to reopen it or submit a new PR. |
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