AP_ExternalAHRS: added ANU CINS state estimator #24747
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changed the title
peterbarker
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Sep 11, 2024
| @@ -0,0 +1,173 @@ | |||
| #include "AP_Math.h" | |||
| #include "LieGroups.h" | |||
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Can we upload them to the repo so if hosting goes down, we still have access?
| @@ -178,6 +178,23 @@ Matrix3<T> Matrix3<T>::operator *(const Matrix3<T> &m) const | |||
| return temp; | |||
| } | |||
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| //Multiplication by a scalar | |||
| template <typename T> | |||
| Matrix3<T> operator*(const T scalar, const Matrix3<T>& matrix) { | |||
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re-implement send_status_report in terms of get_variances and support EKF failsafe with ExternalAHRS
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This is the ANU CINS estimator worked on by @patwilt and @pvangoor
This is still experimental but is giving promising results in test flights
remaining issues: