Started basic ErrorEKF states#3
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ChrisEgan06 wants to merge 41 commits intoFrostydev-Avionics:mainfrom
Open
Started basic ErrorEKF states#3ChrisEgan06 wants to merge 41 commits intoFrostydev-Avionics:mainfrom
ChrisEgan06 wants to merge 41 commits intoFrostydev-Avionics:mainfrom
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Attempted to create priori state estimate function and function to compute predictions
ChrisEgan06
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What works/tested: * Attitude and position kept in NED * Gyro integration to propagate quaternion in priori estimate. Works at different launch angles * GPS measurement in local NED * Mag measurement @ some position and some orientation (w/ some imprecision) * Plotting the expected state (orientation + position) (both work) * Plotting the EKF calculated state (orientation + pos) (just orientation only under gyro works) What doesn't work: * Position going through EKF * Mag through EKF to change quat What I haven't looked into: * How accurate covariance propagation goes
abhayma1000
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… bias in thje sim (works?)
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