ekf2: use bias corrected angular velocity #23335
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looks good, resolve conflicts then I'll approve |
bresch
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Jul 8, 2024
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I've added a protection on delta_ang_dt/delta_vel_dt right before it's pushed into the IMU buffer. 95f3f06 |
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bresch
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Jul 10, 2024
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Needs another rebase... |
- avoid unnecessarily storing _ang_rate_delayed_raw
- I think this helps make it clear we're using a sensor sample corresponding with a particular IMU sample
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When correcting velocity for position offsets (eg GNSS antenna) we were using uncorrected gyro stored during state predict). This pull request updates it to use bias corrected gyro (angular velocity) computed in place with the delayed IMU sample passed around.
I would guess this largely goes unnoticed as the majority of setups don't bother setting GNSS antenna positions, and typically the gyro bias is minimal (especially with autocal).