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ekf2: improve attitude estimation without horizontal aiding 

- fake_pos only if at rest or tilt variances becomes large
 - fake pos: don't run when grav fusion is enabled
 - gravity fusion enabled by default
 - gravity: only fuse when accel norm and lpf norm are consistent

Co-authored-by: bresch <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar 2024-01-10 12:45:09 -05:00
parent 8158a14eff
commit ed0d26de8a
9 changed files with 650 additions and 631 deletions
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6
src/modules/ekf2/EKF/control.cpp
View File

@ -68,11 +68,9 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)
// monitor the tilt alignment
if (!_control_status.flags.tilt_align) {
// whilst we are aligning the tilt, monitor the variances
const Vector3f angle_err_var_vec = getQuaternionVariance();
// Once the tilt variances have reduced to equivalent of 3deg uncertainty
// Once the tilt variances have reduced to equivalent of 3 deg uncertainty
// and declare the tilt alignment complete
if ((angle_err_var_vec(0) + angle_err_var_vec(1)) < sq(math::radians(3.0f))) {
if (getTiltVariance() < sq(math::radians(3.f))) {
_control_status.flags.tilt_align = true;
// send alignment status message to the console

3
src/modules/ekf2/EKF/ekf.h
View File

@ -255,7 +255,10 @@ public:
matrix::Vector<float, State::size> covariances_diagonal() const { return P.diag(); }
matrix::Vector<float, State::quat_nominal.dof> getQuaternionVariance() const { return getStateVariance<State::quat_nominal>(); }
float getTiltVariance() const { return getStateVariance<State::quat_nominal>()(0) + getStateVariance<State::quat_nominal>()(1); };
Vector3f getVelocityVariance() const { return getStateVariance<State::vel>(); };
Vector3f getPositionVariance() const { return getStateVariance<State::pos>(); }
// get the ekf WGS-84 origin position and height and the system time it was last set

11
src/modules/ekf2/EKF/fake_pos_control.cpp
View File

@ -43,7 +43,7 @@ void Ekf::controlFakePosFusion()
auto &aid_src = _aid_src_fake_pos;
// If we aren't doing any aiding, fake position measurements at the last known position to constrain drift
// During intial tilt aligment, fake position is used to perform a "quasi-stationary" leveling of the EKF
// During initial tilt alignment, fake position is used to perform a "quasi-stationary" leveling of the EKF
const bool fake_pos_data_ready = !isHorizontalAidingActive()
&& isTimedOut(aid_src.time_last_fuse, (uint64_t)2e5); // Fuse fake position at a limited rate
@ -68,7 +68,10 @@ void Ekf::controlFakePosFusion()
updateHorizontalPositionAidSrcStatus(_time_delayed_us, Vector2f(_last_known_pos), obs_var, innov_gate, aid_src);
const bool continuing_conditions_passing = !isHorizontalAidingActive();
const bool continuing_conditions_passing = !isHorizontalAidingActive()
&& ((getTiltVariance() > sq(math::radians(3.f))) || _control_status.flags.vehicle_at_rest)
&& (!(_params.imu_ctrl & static_cast<int32_t>(ImuCtrl::GravityVector)) || _control_status.flags.vehicle_at_rest);
const bool starting_conditions_passing = continuing_conditions_passing
&& _horizontal_deadreckon_time_exceeded;
@ -77,8 +80,8 @@ void Ekf::controlFakePosFusion()
// always protect against extreme values that could result in a NaN
if ((aid_src.test_ratio[0] < sq(100.0f / innov_gate))
&& (aid_src.test_ratio[1] < sq(100.0f / innov_gate))
) {
&& (aid_src.test_ratio[1] < sq(100.0f / innov_gate))
) {
fuseHorizontalPosition(aid_src);
}

23
src/modules/ekf2/EKF/gravity_fusion.cpp
View File

@ -46,16 +46,21 @@
void Ekf::controlGravityFusion(const imuSample &imu)
{
// fuse gravity observation if our overall acceleration isn't too big
const float gravity_scale = _accel_vec_filt.norm() / CONSTANTS_ONE_G;
_control_status.flags.gravity_vector = (_params.imu_ctrl & static_cast<int32_t>(ImuCtrl::GravityVector))
&& (((gravity_scale >= 0.9f && gravity_scale <= 1.1f)) || _control_status.flags.vehicle_at_rest)
&& !isHorizontalAidingActive();
// get raw accelerometer reading at delayed horizon and expected measurement noise (gaussian)
const Vector3f measurement = imu.delta_vel / imu.delta_vel_dt - getAccelBias();
const float measurement_var = sq(_params.gravity_noise);
const Vector3f measurement = imu.delta_vel / imu.delta_vel_dt - _state.accel_bias;
const float measurement_var = math::max(sq(_params.gravity_noise), sq(0.01f));
const float accel_lpf_norm_sq = _accel_vec_filt.norm_squared();
const float accel_norm_sq = measurement.norm_squared();
const float upper_accel_limit = CONSTANTS_ONE_G * 1.1f;
const float lower_accel_limit = CONSTANTS_ONE_G * 0.9f;
const bool accel_lpf_norm_good = (accel_lpf_norm_sq > sq(lower_accel_limit)) && (accel_lpf_norm_sq < sq(upper_accel_limit));
const bool accel_norm_good = (accel_norm_sq > sq(lower_accel_limit)) && (accel_norm_sq < sq(upper_accel_limit));
// fuse gravity observation if our overall acceleration isn't too big
_control_status.flags.gravity_vector = (_params.imu_ctrl & static_cast<int32_t>(ImuCtrl::GravityVector))
&& ((accel_lpf_norm_good && accel_norm_good) || _control_status.flags.vehicle_at_rest)
&& !isHorizontalAidingActive();
// calculate kalman gains and innovation variances
Vector3f innovation; // innovation of the last gravity fusion observation (m/s**2)

9
src/modules/ekf2/EKF2.cpp
View File

@ -250,6 +250,7 @@ bool EKF2::multi_init(int imu, int mag)
_estimator_states_pub.advertise();
_estimator_status_flags_pub.advertise();
_estimator_status_pub.advertise();
#if defined(CONFIG_EKF2_GNSS)
_yaw_est_pub.advertise();
#endif // CONFIG_EKF2_GNSS
@ -313,6 +314,14 @@ bool EKF2::multi_init(int imu, int mag)
# endif // CONFIG_EKF2_GNSS_YAW
#endif // CONFIG_EKF2_GNSS
#if defined(CONFIG_EKF2_GRAVITY_FUSION)
if (_param_ekf2_imu_ctrl.get() & static_cast<int32_t>(ImuCtrl::GravityVector)) {
_estimator_aid_src_gravity_pub.advertise();
}
#endif // CONFIG_EKF2_GRAVITY_FUSION
#if defined(CONFIG_EKF2_RANGE_FINDER)
// RNG advertise

4
src/modules/ekf2/ekf2_params.c
View File

@ -62,7 +62,7 @@ PARAM_DEFINE_INT32(EKF2_PREDICT_US, 10000);
* @bit 1 Accel Bias
* @bit 2 Gravity vector fusion
*/
PARAM_DEFINE_INT32(EKF2_IMU_CTRL, 3);
PARAM_DEFINE_INT32(EKF2_IMU_CTRL, 7);
/**
* Magnetometer measurement delay relative to IMU measurements
@ -829,7 +829,7 @@ PARAM_DEFINE_FLOAT(EKF2_EVA_NOISE, 0.1f);
* @unit m/s^2
* @decimal 2
*/
PARAM_DEFINE_FLOAT(EKF2_GRAV_NOISE, 1.0f);
PARAM_DEFINE_FLOAT(EKF2_GRAV_NOISE, 5.0f);
/**
* Optical flow aiding

652
src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
View File

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18390000,0.78,-0.012,-0.0017,-0.63,-0.005,-0.0048,0.008,0.001,-0.0032,-3.7e+02,-0.0015,-0.0062,4.4e-05,-0.00099,0.0092,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00052,0.00052,0.019,0.033,0.033,0.014,0.054,0.054,0.046,5.4e-06,5.4e-06,6.3e-06,0.031,0.031,0.00084,0,0,0,0,0,0,0,0
18490000,0.77,-0.012,-0.0017,-0.63,-0.0052,-0.0054,0.0076,0.00049,-0.0037,-3.7e+02,-0.0015,-0.0062,4.4e-05,-0.001,0.0092,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00053,0.00053,0.019,0.037,0.037,0.014,0.061,0.061,0.046,5.4e-06,5.4e-06,6.3e-06,0.031,0.031,0.00082,0,0,0,0,0,0,0,0
18590000,0.77,-0.012,-0.0017,-0.63,-0.0052,-0.0048,0.0058,0.00056,-0.0027,-3.7e+02,-0.0015,-0.0062,4.4e-05,-0.0011,0.0093,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00051,0.0005,0.019,0.032,0.032,0.014,0.052,0.052,0.045,4.9e-06,4.9e-06,6.3e-06,0.031,0.031,0.00078,0,0,0,0,0,0,0,0
18690000,0.77,-0.012,-0.0016,-0.63,-0.0052,-0.0042,0.0039,5.3e-05,-0.0032,-3.7e+02,-0.0015,-0.0062,4.4e-05,-0.0011,0.0093,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00051,0.00051,0.019,0.035,0.035,0.013,0.058,0.058,0.045,4.9e-06,4.9e-06,6.3e-06,0.031,0.031,0.00075,0,0,0,0,0,0,0,0
18790000,0.77,-0.012,-0.0016,-0.63,-0.0046,-0.0037,0.0035,0.00021,-0.0025,-3.7e+02,-0.0015,-0.0062,4.5e-05,-0.0012,0.0095,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00049,0.00049,0.019,0.031,0.031,0.013,0.05,0.05,0.045,4.5e-06,4.5e-06,6.3e-06,0.031,0.031,0.00072,0,0,0,0,0,0,0,0
18890000,0.77,-0.012,-0.0017,-0.63,-0.0046,-0.0043,0.0042,-0.00024,-0.003,-3.7e+02,-0.0015,-0.0062,4.5e-05,-0.0012,0.0095,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.0005,0.0005,0.019,0.034,0.034,0.013,0.056,0.056,0.045,4.5e-06,4.5e-06,6.3e-06,0.031,0.031,0.0007,0,0,0,0,0,0,0,0
18990000,0.78,-0.012,-0.0017,-0.63,-0.0016,-0.0045,0.0028,0.0025,-0.0023,-3.7e+02,-0.0015,-0.0062,4.5e-05,-0.0012,0.01,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00048,0.00048,0.019,0.03,0.03,0.012,0.048,0.048,0.044,4.1e-06,4.1e-06,6.3e-06,0.031,0.031,0.00066,0,0,0,0,0,0,0,0
19090000,0.78,-0.012,-0.0017,-0.63,-0.0015,-0.0052,0.0058,0.0023,-0.0028,-3.7e+02,-0.0015,-0.0062,4.5e-05,-0.0012,0.01,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00049,0.00049,0.019,0.033,0.033,0.012,0.054,0.054,0.044,4.1e-06,4.1e-06,6.3e-06,0.031,0.031,0.00065,0,0,0,0,0,0,0,0
19190000,0.78,-0.012,-0.0018,-0.63,0.0015,-0.0045,0.0059,0.0045,-0.0022,-3.7e+02,-0.0016,-0.0062,4.6e-05,-0.0012,0.01,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00047,0.00047,0.019,0.029,0.029,0.012,0.047,0.047,0.044,3.7e-06,3.7e-06,6.3e-06,0.03,0.03,0.00062,0,0,0,0,0,0,0,0
19290000,0.78,-0.012,-0.0018,-0.63,0.0017,-0.0038,0.0086,0.0047,-0.0026,-3.7e+02,-0.0016,-0.0062,4.6e-05,-0.0012,0.01,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00048,0.00048,0.019,0.032,0.032,0.012,0.053,0.053,0.044,3.7e-06,3.7e-06,6.3e-06,0.03,0.03,0.0006,0,0,0,0,0,0,0,0
19390000,0.78,-0.012,-0.0017,-0.63,0.0015,-0.0023,0.012,0.0038,-0.0021,-3.7e+02,-0.0016,-0.0062,4.6e-05,-0.0013,0.01,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.028,0.028,0.012,0.046,0.046,0.043,3.4e-06,3.4e-06,6.3e-06,0.03,0.03,0.00058,0,0,0,0,0,0,0,0
19490000,0.78,-0.012,-0.0018,-0.63,0.003,-0.0014,0.0088,0.0041,-0.0023,-3.7e+02,-0.0016,-0.0062,4.6e-05,-0.0013,0.01,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00047,0.00047,0.019,0.031,0.031,0.011,0.052,0.052,0.043,3.4e-06,3.4e-06,6.3e-06,0.03,0.03,0.00056,0,0,0,0,0,0,0,0
19590000,0.78,-0.012,-0.0018,-0.63,0.0026,3.2e-05,0.0081,0.0033,-0.0018,-3.7e+02,-0.0016,-0.0062,4.5e-05,-0.0014,0.01,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00045,0.00045,0.019,0.027,0.027,0.011,0.046,0.046,0.042,3.1e-06,3.1e-06,6.3e-06,0.03,0.03,0.00054,0,0,0,0,0,0,0,0
19690000,0.78,-0.012,-0.0018,-0.63,0.0024,0.0022,0.0096,0.0036,-0.0017,-3.7e+02,-0.0016,-0.0062,4.5e-05,-0.0014,0.01,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.03,0.03,0.011,0.051,0.051,0.042,3.1e-06,3.1e-06,6.3e-06,0.03,0.03,0.00052,0,0,0,0,0,0,0,0
19790000,0.78,-0.012,-0.0018,-0.63,0.0026,0.0035,0.01,0.0029,-0.0014,-3.7e+02,-0.0015,-0.0062,4.5e-05,-0.0014,0.01,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00045,0.00044,0.019,0.027,0.027,0.011,0.045,0.045,0.042,2.9e-06,2.9e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
19890000,0.78,-0.012,-0.0017,-0.63,0.0043,0.004,0.011,0.0033,-0.00097,-3.7e+02,-0.0015,-0.0062,4.5e-05,-0.0014,0.01,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00045,0.00045,0.019,0.029,0.029,0.011,0.05,0.05,0.042,2.9e-06,2.9e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
19990000,0.78,-0.012,-0.0017,-0.63,0.0049,0.0052,0.014,0.0027,-0.00079,-3.7e+02,-0.0015,-0.0062,4.5e-05,-0.0013,0.01,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00044,0.00044,0.019,0.026,0.026,0.01,0.045,0.045,0.041,2.6e-06,2.6e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
20090000,0.78,-0.012,-0.0017,-0.63,0.0052,0.0072,0.014,0.0032,-0.00019,-3.7e+02,-0.0015,-0.0062,4.5e-05,-0.0013,0.01,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00044,0.00044,0.019,0.029,0.029,0.01,0.05,0.05,0.042,2.6e-06,2.6e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
20190000,0.78,-0.012,-0.0017,-0.63,0.0037,0.0081,0.017,0.0014,-0.00021,-3.7e+02,-0.0015,-0.0062,4.5e-05,-0.0013,0.0098,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00043,0.00043,0.019,0.026,0.026,0.01,0.044,0.044,0.041,2.4e-06,2.4e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
20290000,0.78,-0.012,-0.0017,-0.63,0.0048,0.0099,0.015,0.0019,0.00068,-3.7e+02,-0.0015,-0.0062,4.5e-05,-0.0013,0.0098,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00043,0.00043,0.019,0.028,0.028,0.0099,0.05,0.05,0.041,2.4e-06,2.4e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
20390000,0.78,-0.012,-0.0016,-0.63,0.0041,0.011,0.017,0.0004,0.00048,-3.7e+02,-0.0015,-0.0062,4.5e-05,-0.0012,0.0095,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00042,0.00042,0.019,0.025,0.025,0.0097,0.044,0.044,0.041,2.2e-06,2.2e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
20490000,0.78,-0.012,-0.0017,-0.63,0.0046,0.012,0.016,0.00085,0.0016,-3.7e+02,-0.0015,-0.0062,4.5e-05,-0.0012,0.0095,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00043,0.00042,0.019,0.027,0.027,0.0096,0.049,0.049,0.041,2.2e-06,2.2e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
20590000,0.78,-0.012,-0.0017,-0.63,0.0038,0.011,0.013,0.00064,0.0012,-3.7e+02,-0.0015,-0.0062,4.4e-05,-0.0011,0.0094,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00042,0.00041,0.019,0.025,0.025,0.0094,0.044,0.044,0.04,2.1e-06,2.1e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
20690000,0.78,-0.012,-0.0017,-0.63,0.0037,0.013,0.015,0.001,0.0024,-3.7e+02,-0.0015,-0.0062,4.4e-05,-0.0011,0.0094,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00042,0.00042,0.019,0.027,0.027,0.0093,0.049,0.049,0.04,2.1e-06,2.1e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
20790000,0.78,-0.012,-0.0017,-0.63,0.0045,0.012,0.015,0.00084,0.0019,-3.7e+02,-0.0015,-0.0062,4.4e-05,-0.00089,0.0093,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00041,0.00041,0.019,0.024,0.024,0.0091,0.043,0.043,0.04,1.9e-06,1.9e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
20890000,0.77,-0.012,-0.0017,-0.63,0.0046,0.015,0.014,0.0013,0.0032,-3.7e+02,-0.0015,-0.0062,4.4e-05,-0.00089,0.0093,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00041,0.00041,0.019,0.026,0.026,0.0091,0.049,0.049,0.04,1.9e-06,1.9e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
20990000,0.78,-0.012,-0.0017,-0.63,0.0053,0.016,0.015,0.0013,0.0032,-3.7e+02,-0.0015,-0.0061,4.4e-05,-0.00072,0.0092,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00041,0.00041,0.019,0.026,0.026,0.0089,0.051,0.051,0.039,1.8e-06,1.8e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
21090000,0.77,-0.012,-0.0017,-0.63,0.0052,0.018,0.015,0.0018,0.0049,-3.7e+02,-0.0015,-0.0061,4.4e-05,-0.00072,0.0092,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00041,0.00041,0.019,0.028,0.028,0.0089,0.057,0.057,0.039,1.8e-06,1.8e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
21190000,0.77,-0.012,-0.0018,-0.63,0.0051,0.017,0.014,0.0017,0.0045,-3.7e+02,-0.0015,-0.0061,4.4e-05,-0.00051,0.0091,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00041,0.0004,0.019,0.027,0.027,0.0087,0.06,0.06,0.039,1.7e-06,1.7e-06,6.3e-06,0.029,0.03,0.0005,0,0,0,0,0,0,0,0
21290000,0.77,-0.012,-0.0018,-0.63,0.0054,0.02,0.016,0.0022,0.0063,-3.7e+02,-0.0015,-0.0061,4.4e-05,-0.00051,0.0091,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00041,0.00041,0.019,0.029,0.029,0.0086,0.066,0.066,0.039,1.7e-06,1.7e-06,6.3e-06,0.029,0.03,0.0005,0,0,0,0,0,0,0,0
21390000,0.77,-0.012,-0.0018,-0.63,0.0052,0.02,0.016,0.0015,0.0056,-3.7e+02,-0.0015,-0.0061,4.4e-05,-0.00035,0.0089,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.0004,0.0004,0.019,0.025,0.025,0.0085,0.055,0.055,0.039,1.5e-06,1.5e-06,6.3e-06,0.029,0.029,0.0005,0,0,0,0,0,0,0,0
21490000,0.77,-0.012,-0.0018,-0.63,0.0057,0.021,0.015,0.0021,0.0077,-3.7e+02,-0.0015,-0.0061,4.4e-05,-0.00036,0.0089,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.0004,0.0004,0.019,0.027,0.027,0.0085,0.061,0.061,0.038,1.5e-06,1.5e-06,6.3e-06,0.029,0.029,0.0005,0,0,0,0,0,0,0,0
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17290000,0.78,-0.013,-0.0014,-0.63,-0.015,-0.0047,-0.0066,-0.0085,-0.0013,-3.7e+02,-0.0013,-0.0062,3.9e-05,-0.0015,0.0049,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00063,0.00063,0.019,0.041,0.041,0.019,0.053,0.053,0.049,1e-05,1e-05,6.3e-06,0.034,0.034,0.0014,0,0,0,0,0,0,0,0
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17490000,0.78,-0.013,-0.0015,-0.63,-0.014,-0.0063,-0.003,-0.0079,-0.0029,-3.7e+02,-0.0013,-0.0062,4e-05,-0.0013,0.0053,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00061,0.00061,0.019,0.04,0.04,0.018,0.053,0.053,0.049,9.2e-06,9.2e-06,6.3e-06,0.033,0.033,0.0013,0,0,0,0,0,0,0,0
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18090000,0.78,-0.012,-0.0017,-0.63,-0.009,-0.0047,0.0043,-0.003,-0.0048,-3.7e+02,-0.0015,-0.0061,4.3e-05,-0.0012,0.0074,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00057,0.00057,0.019,0.044,0.044,0.016,0.072,0.072,0.047,7e-06,7e-06,6.3e-06,0.033,0.033,0.00097,0,0,0,0,0,0,0,0
18190000,0.78,-0.012,-0.0017,-0.63,-0.0061,-0.0042,0.0056,-0.0001,-0.0035,-3.7e+02,-0.0015,-0.0062,4.4e-05,-0.0013,0.0079,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00054,0.00054,0.019,0.036,0.036,0.015,0.058,0.058,0.047,6.2e-06,6.2e-06,6.3e-06,0.033,0.033,0.00092,0,0,0,0,0,0,0,0
18290000,0.78,-0.012,-0.0016,-0.63,-0.0058,-0.0038,0.0068,-0.00069,-0.0039,-3.7e+02,-0.0015,-0.0062,4.4e-05,-0.0013,0.0079,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00055,0.00055,0.019,0.04,0.04,0.015,0.066,0.066,0.046,6.2e-06,6.2e-06,6.3e-06,0.033,0.033,0.00089,0,0,0,0,0,0,0,0
18390000,0.78,-0.012,-0.0017,-0.63,-0.0045,-0.0045,0.008,0.0012,-0.003,-3.7e+02,-0.0015,-0.0062,4.5e-05,-0.0013,0.0083,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00053,0.00053,0.019,0.034,0.034,0.014,0.055,0.055,0.046,5.6e-06,5.6e-06,6.3e-06,0.032,0.032,0.00084,0,0,0,0,0,0,0,0
18490000,0.77,-0.012,-0.0017,-0.63,-0.0047,-0.0051,0.0076,0.00073,-0.0035,-3.7e+02,-0.0015,-0.0062,4.5e-05,-0.0013,0.0083,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00053,0.00053,0.019,0.037,0.037,0.014,0.061,0.061,0.046,5.6e-06,5.6e-06,6.3e-06,0.032,0.032,0.00082,0,0,0,0,0,0,0,0
18590000,0.77,-0.012,-0.0016,-0.63,-0.0048,-0.0045,0.0058,0.00074,-0.0026,-3.7e+02,-0.0015,-0.0062,4.5e-05,-0.0014,0.0084,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00051,0.00051,0.019,0.032,0.032,0.014,0.052,0.052,0.045,5.1e-06,5.1e-06,6.3e-06,0.032,0.032,0.00078,0,0,0,0,0,0,0,0
18690000,0.77,-0.012,-0.0016,-0.63,-0.0047,-0.0039,0.0039,0.00028,-0.0031,-3.7e+02,-0.0015,-0.0062,4.5e-05,-0.0014,0.0084,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00052,0.00052,0.019,0.035,0.035,0.013,0.058,0.058,0.045,5.1e-06,5.1e-06,6.3e-06,0.032,0.032,0.00075,0,0,0,0,0,0,0,0
18790000,0.77,-0.012,-0.0016,-0.63,-0.0041,-0.0034,0.0035,0.00038,-0.0024,-3.7e+02,-0.0015,-0.0062,4.5e-05,-0.0015,0.0085,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.0005,0.0005,0.019,0.031,0.031,0.013,0.05,0.05,0.045,4.6e-06,4.6e-06,6.3e-06,0.032,0.032,0.00072,0,0,0,0,0,0,0,0
18890000,0.77,-0.012,-0.0016,-0.63,-0.0041,-0.004,0.0042,-2e-05,-0.0028,-3.7e+02,-0.0015,-0.0062,4.5e-05,-0.0015,0.0085,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00051,0.00051,0.019,0.034,0.034,0.013,0.056,0.056,0.045,4.6e-06,4.6e-06,6.3e-06,0.032,0.032,0.0007,0,0,0,0,0,0,0,0
18990000,0.78,-0.012,-0.0017,-0.63,-0.0012,-0.0043,0.0028,0.0027,-0.0022,-3.7e+02,-0.0015,-0.0062,4.6e-05,-0.0015,0.009,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00049,0.00049,0.019,0.03,0.03,0.012,0.048,0.048,0.044,4.2e-06,4.2e-06,6.3e-06,0.032,0.032,0.00067,0,0,0,0,0,0,0,0
19090000,0.78,-0.012,-0.0017,-0.63,-0.001,-0.005,0.0058,0.0026,-0.0027,-3.7e+02,-0.0015,-0.0062,4.6e-05,-0.0015,0.009,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.0005,0.0005,0.019,0.033,0.033,0.012,0.054,0.054,0.044,4.2e-06,4.2e-06,6.3e-06,0.032,0.032,0.00065,0,0,0,0,0,0,0,0
19190000,0.78,-0.012,-0.0017,-0.63,0.0019,-0.0043,0.0059,0.0047,-0.0021,-3.7e+02,-0.0016,-0.0062,4.6e-05,-0.0015,0.0093,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00048,0.00048,0.019,0.029,0.029,0.012,0.047,0.047,0.044,3.8e-06,3.8e-06,6.3e-06,0.032,0.032,0.00062,0,0,0,0,0,0,0,0
19290000,0.78,-0.012,-0.0017,-0.63,0.0022,-0.0035,0.0086,0.0049,-0.0025,-3.7e+02,-0.0016,-0.0062,4.6e-05,-0.0015,0.0093,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00049,0.00049,0.019,0.032,0.032,0.012,0.053,0.053,0.044,3.8e-06,3.8e-06,6.3e-06,0.032,0.032,0.0006,0,0,0,0,0,0,0,0
19390000,0.78,-0.012,-0.0017,-0.63,0.002,-0.0021,0.012,0.004,-0.0019,-3.7e+02,-0.0016,-0.0062,4.6e-05,-0.0016,0.0093,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00047,0.00047,0.019,0.028,0.028,0.012,0.046,0.046,0.043,3.5e-06,3.5e-06,6.3e-06,0.032,0.032,0.00058,0,0,0,0,0,0,0,0
19490000,0.78,-0.012,-0.0017,-0.63,0.0035,-0.0011,0.0088,0.0043,-0.0021,-3.7e+02,-0.0016,-0.0062,4.6e-05,-0.0016,0.0093,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00048,0.00048,0.019,0.031,0.031,0.011,0.052,0.052,0.043,3.5e-06,3.5e-06,6.3e-06,0.032,0.032,0.00056,0,0,0,0,0,0,0,0
19590000,0.78,-0.012,-0.0017,-0.63,0.003,0.00028,0.0081,0.0035,-0.0016,-3.7e+02,-0.0016,-0.0062,4.6e-05,-0.0017,0.0092,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.028,0.028,0.011,0.046,0.046,0.042,3.2e-06,3.2e-06,6.3e-06,0.032,0.032,0.00054,0,0,0,0,0,0,0,0
19690000,0.78,-0.012,-0.0017,-0.63,0.0028,0.0024,0.0096,0.0038,-0.0015,-3.7e+02,-0.0016,-0.0062,4.6e-05,-0.0017,0.0092,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00047,0.00047,0.019,0.03,0.03,0.011,0.051,0.051,0.042,3.2e-06,3.2e-06,6.3e-06,0.032,0.032,0.00052,0,0,0,0,0,0,0,0
19790000,0.78,-0.012,-0.0017,-0.63,0.003,0.0037,0.01,0.0031,-0.0012,-3.7e+02,-0.0016,-0.0062,4.6e-05,-0.0017,0.0091,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00046,0.00045,0.019,0.027,0.027,0.011,0.045,0.045,0.042,2.9e-06,2.9e-06,6.3e-06,0.032,0.032,0.0005,0,0,0,0,0,0,0,0
19890000,0.78,-0.012,-0.0017,-0.63,0.0047,0.0043,0.011,0.0035,-0.00083,-3.7e+02,-0.0016,-0.0062,4.6e-05,-0.0017,0.0091,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.03,0.03,0.011,0.051,0.051,0.042,2.9e-06,2.9e-06,6.3e-06,0.032,0.032,0.0005,0,0,0,0,0,0,0,0
19990000,0.78,-0.012,-0.0016,-0.63,0.0052,0.0054,0.014,0.0029,-0.00068,-3.7e+02,-0.0015,-0.0062,4.6e-05,-0.0017,0.009,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00045,0.00045,0.019,0.027,0.027,0.01,0.045,0.045,0.041,2.7e-06,2.7e-06,6.3e-06,0.032,0.032,0.0005,0,0,0,0,0,0,0,0
20090000,0.78,-0.012,-0.0016,-0.63,0.0056,0.0074,0.014,0.0034,-5.5e-05,-3.7e+02,-0.0015,-0.0062,4.6e-05,-0.0017,0.009,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00045,0.00045,0.019,0.029,0.029,0.01,0.05,0.05,0.042,2.7e-06,2.7e-06,6.3e-06,0.032,0.032,0.0005,0,0,0,0,0,0,0,0
20190000,0.78,-0.012,-0.0017,-0.63,0.004,0.0083,0.017,0.0016,-0.00011,-3.7e+02,-0.0015,-0.0062,4.5e-05,-0.0016,0.0087,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00044,0.00044,0.019,0.026,0.026,0.01,0.044,0.044,0.041,2.5e-06,2.5e-06,6.3e-06,0.031,0.032,0.0005,0,0,0,0,0,0,0,0
20290000,0.78,-0.012,-0.0016,-0.63,0.0052,0.01,0.015,0.0021,0.00081,-3.7e+02,-0.0015,-0.0062,4.5e-05,-0.0016,0.0087,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00044,0.00044,0.019,0.028,0.028,0.0099,0.05,0.05,0.041,2.5e-06,2.5e-06,6.3e-06,0.031,0.032,0.0005,0,0,0,0,0,0,0,0
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572
src/modules/ekf2/test/change_indication/iris_gps.csv
View File

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17390000,-0.28,0.011,-0.0062,0.96,-0.00072,0.013,0.029,0.0061,-0.0011,0.021,-0.0012,-0.0061,2e-05,0.0059,0.0033,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.0006,0.0006,0.019,0.037,0.037,0.0084,0.058,0.058,0.034,8.5e-06,8.5e-06,6.3e-06,0.032,0.032,0.0005,0,0,0,0,0,0,0,0
17490000,-0.28,0.011,-0.0062,0.96,0.0014,0.014,0.029,0.0062,0.00024,0.023,-0.0012,-0.0061,2e-05,0.0059,0.0032,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00061,0.00061,0.019,0.041,0.041,0.0085,0.066,0.066,0.034,8.5e-06,8.5e-06,6.3e-06,0.032,0.032,0.0005,0,0,0,0,0,0,0,0
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18190000,-0.28,0.011,-0.0063,0.96,-0.0019,0.015,0.028,0.0031,0.0055,0.029,-0.0013,-0.0061,2.1e-05,0.0072,0.0029,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00054,0.00053,0.019,0.032,0.032,0.0086,0.054,0.054,0.035,5.8e-06,5.8e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
18290000,-0.28,0.011,-0.0064,0.96,-0.0028,0.016,0.027,0.0028,0.007,0.027,-0.0013,-0.0061,2.1e-05,0.0075,0.0027,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00054,0.00054,0.019,0.036,0.036,0.0087,0.061,0.061,0.035,5.8e-06,5.8e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
18390000,-0.28,0.011,-0.0062,0.96,0.00055,0.014,0.027,0.0051,0.0051,0.026,-0.0013,-0.0061,2.2e-05,0.0075,0.0032,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00052,0.00052,0.019,0.031,0.031,0.0086,0.051,0.051,0.035,5.3e-06,5.3e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
18490000,-0.28,0.011,-0.0063,0.96,-0.0019,0.014,0.026,0.005,0.0065,0.028,-0.0013,-0.0061,2.2e-05,0.0076,0.0032,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00053,0.00053,0.019,0.034,0.034,0.0087,0.058,0.058,0.035,5.3e-06,5.3e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
18590000,-0.28,0.011,-0.0061,0.96,-0.0021,0.012,0.026,0.0041,0.0049,0.031,-0.0013,-0.0061,2.2e-05,0.0078,0.0035,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00051,0.00051,0.019,0.03,0.03,0.0087,0.049,0.049,0.035,4.9e-06,4.9e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
18690000,-0.28,0.011,-0.0061,0.96,-0.0018,0.012,0.024,0.0039,0.0061,0.029,-0.0013,-0.0061,2.2e-05,0.0081,0.0033,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00052,0.00051,0.019,0.033,0.033,0.0087,0.055,0.055,0.035,4.9e-06,4.9e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
18790000,-0.28,0.011,-0.006,0.96,9.3e-05,0.011,0.024,0.0045,0.0048,0.027,-0.0013,-0.0061,2.3e-05,0.0084,0.0034,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.0005,0.0005,0.019,0.03,0.03,0.0087,0.048,0.048,0.035,4.4e-06,4.4e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
18890000,-0.28,0.011,-0.006,0.96,0.0017,0.011,0.021,0.0046,0.006,0.023,-0.0013,-0.0061,2.3e-05,0.0087,0.0031,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.0005,0.0005,0.019,0.033,0.033,0.0087,0.054,0.054,0.035,4.4e-06,4.4e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
18990000,-0.28,0.011,-0.0059,0.96,0.0015,0.011,0.022,0.0037,0.0047,0.026,-0.0013,-0.0061,2.3e-05,0.009,0.0034,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00049,0.00048,0.019,0.029,0.029,0.0086,0.047,0.047,0.035,4.1e-06,4.1e-06,6.3e-06,0.03,0.031,0.0005,0,0,0,0,0,0,0,0
19090000,-0.28,0.011,-0.006,0.96,0.0035,0.012,0.023,0.0039,0.0058,0.022,-0.0013,-0.0061,2.3e-05,0.0093,0.0031,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00049,0.00049,0.019,0.032,0.032,0.0087,0.052,0.053,0.036,4.1e-06,4.1e-06,6.3e-06,0.03,0.031,0.0005,0,0,0,0,0,0,0,0
19190000,-0.28,0.011,-0.0059,0.96,0.0036,0.011,0.022,0.0031,0.0046,0.022,-0.0013,-0.0061,2.4e-05,0.0097,0.0032,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00048,0.00047,0.019,0.028,0.028,0.0086,0.046,0.046,0.036,3.7e-06,3.7e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
19290000,-0.28,0.011,-0.0059,0.96,0.0046,0.011,0.023,0.0035,0.0057,0.021,-0.0013,-0.0061,2.4e-05,0.0099,0.003,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00048,0.00048,0.019,0.031,0.031,0.0087,0.052,0.052,0.036,3.7e-06,3.7e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
19390000,-0.28,0.011,-0.006,0.96,0.0043,0.0095,0.024,0.0027,0.0056,0.02,-0.0013,-0.0061,2.4e-05,0.01,0.0028,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00047,0.00046,0.019,0.028,0.028,0.0086,0.045,0.045,0.036,3.4e-06,3.4e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
19490000,-0.28,0.011,-0.006,0.96,0.0051,0.0099,0.023,0.0032,0.0066,0.019,-0.0013,-0.0061,2.4e-05,0.01,0.0027,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00047,0.00047,0.019,0.031,0.031,0.0087,0.051,0.051,0.036,3.4e-06,3.4e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
19590000,-0.28,0.011,-0.0059,0.96,0.0071,0.0099,0.025,0.0038,0.0042,0.019,-0.0014,-0.0061,2.4e-05,0.011,0.003,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00046,0.00045,0.019,0.027,0.027,0.0086,0.045,0.045,0.036,3.1e-06,3.1e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
19690000,-0.28,0.011,-0.0059,0.96,0.0092,0.0089,0.023,0.0046,0.0052,0.019,-0.0014,-0.0061,2.4e-05,0.011,0.0029,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.03,0.03,0.0086,0.05,0.05,0.036,3.1e-06,3.1e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
19790000,-0.28,0.011,-0.006,0.96,0.012,0.0078,0.022,0.0056,0.0051,0.015,-0.0014,-0.0061,2.4e-05,0.011,0.0028,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00045,0.00045,0.019,0.029,0.029,0.0086,0.053,0.053,0.036,2.9e-06,2.9e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
19890000,-0.28,0.011,-0.006,0.96,0.012,0.0078,0.022,0.0069,0.0058,0.013,-0.0014,-0.0061,2.4e-05,0.011,0.0026,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00046,0.00045,0.019,0.032,0.032,0.0086,0.059,0.059,0.036,2.9e-06,2.9e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
19990000,-0.28,0.012,-0.006,0.96,0.012,0.0092,0.019,0.0064,0.0058,0.0098,-0.0014,-0.0061,2.5e-05,0.012,0.0023,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00044,0.00044,0.019,0.028,0.028,0.0085,0.05,0.05,0.036,2.6e-06,2.6e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
20090000,-0.28,0.012,-0.006,0.96,0.011,0.012,0.019,0.0076,0.0069,0.013,-0.0014,-0.0061,2.5e-05,0.012,0.0024,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00045,0.00044,0.019,0.03,0.03,0.0086,0.056,0.056,0.036,2.6e-06,2.6e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
20190000,-0.28,0.012,-0.006,0.96,0.011,0.0085,0.02,0.0073,0.0065,0.013,-0.0014,-0.006,2.5e-05,0.012,0.0023,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00044,0.00043,0.019,0.03,0.03,0.0085,0.059,0.059,0.036,2.5e-06,2.5e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
20290000,-0.28,0.012,-0.006,0.96,0.014,0.01,0.02,0.0085,0.0074,0.013,-0.0014,-0.006,2.5e-05,0.012,0.0023,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00044,0.00044,0.019,0.032,0.032,0.0085,0.066,0.066,0.036,2.5e-06,2.5e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
20390000,-0.28,0.012,-0.0059,0.96,0.014,0.0089,0.021,0.0081,0.0069,0.014,-0.0014,-0.006,2.5e-05,0.013,0.0023,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00043,0.00043,0.019,0.031,0.031,0.0084,0.068,0.068,0.036,2.3e-06,2.3e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
20490000,-0.28,0.012,-0.006,0.96,0.019,0.011,0.02,0.0097,0.0079,0.013,-0.0014,-0.006,2.5e-05,0.013,0.0021,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00044,0.00043,0.019,0.034,0.034,0.0085,0.076,0.076,0.036,2.3e-06,2.3e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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18890000,-0.28,0.011,-0.006,0.96,0.0023,0.011,0.021,0.0049,0.006,0.023,-0.0013,-0.0061,2.3e-05,0.0093,0.0026,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00051,0.0005,0.019,0.034,0.034,0.0087,0.054,0.054,0.035,4.7e-06,4.7e-06,6.3e-06,0.032,0.032,0.0005,0,0,0,0,0,0,0,0
18990000,-0.28,0.011,-0.006,0.96,0.0021,0.011,0.022,0.004,0.0047,0.026,-0.0013,-0.0061,2.3e-05,0.0095,0.0029,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00049,0.00049,0.019,0.03,0.03,0.0087,0.047,0.047,0.035,4.3e-06,4.3e-06,6.3e-06,0.032,0.032,0.0005,0,0,0,0,0,0,0,0
19090000,-0.28,0.011,-0.006,0.96,0.0042,0.012,0.023,0.0042,0.0057,0.022,-0.0013,-0.0061,2.3e-05,0.0099,0.0026,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.0005,0.00049,0.019,0.033,0.033,0.0087,0.053,0.053,0.036,4.3e-06,4.3e-06,6.3e-06,0.032,0.032,0.0005,0,0,0,0,0,0,0,0
19190000,-0.28,0.011,-0.0059,0.96,0.0042,0.011,0.022,0.0034,0.0046,0.022,-0.0013,-0.0061,2.4e-05,0.01,0.0026,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00048,0.00048,0.019,0.029,0.029,0.0086,0.046,0.046,0.036,3.9e-06,3.9e-06,6.3e-06,0.031,0.032,0.0005,0,0,0,0,0,0,0,0
19290000,-0.28,0.011,-0.0059,0.96,0.0052,0.011,0.023,0.0038,0.0057,0.021,-0.0013,-0.0061,2.4e-05,0.01,0.0024,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00049,0.00048,0.019,0.032,0.032,0.0087,0.052,0.052,0.036,3.9e-06,3.9e-06,6.3e-06,0.031,0.032,0.0005,0,0,0,0,0,0,0,0
19390000,-0.28,0.011,-0.006,0.96,0.0048,0.0095,0.024,0.003,0.0056,0.019,-0.0013,-0.0061,2.4e-05,0.011,0.0022,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00047,0.00047,0.019,0.029,0.029,0.0086,0.046,0.046,0.036,3.5e-06,3.6e-06,6.3e-06,0.031,0.032,0.0005,0,0,0,0,0,0,0,0
19490000,-0.28,0.011,-0.0061,0.96,0.0057,0.01,0.023,0.0035,0.0066,0.019,-0.0013,-0.0061,2.4e-05,0.011,0.0021,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00048,0.00047,0.019,0.031,0.031,0.0087,0.051,0.051,0.036,3.6e-06,3.6e-06,6.3e-06,0.031,0.032,0.0005,0,0,0,0,0,0,0,0
19590000,-0.28,0.011,-0.0059,0.96,0.0077,0.0099,0.025,0.004,0.0042,0.019,-0.0014,-0.0061,2.4e-05,0.011,0.0024,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.028,0.028,0.0086,0.045,0.045,0.036,3.2e-06,3.2e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
19690000,-0.28,0.011,-0.0059,0.96,0.0097,0.0089,0.023,0.0049,0.0051,0.019,-0.0014,-0.0061,2.4e-05,0.011,0.0022,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00047,0.00046,0.019,0.031,0.031,0.0086,0.051,0.051,0.036,3.2e-06,3.2e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
19790000,-0.28,0.011,-0.006,0.96,0.012,0.0078,0.022,0.0059,0.005,0.014,-0.0014,-0.0061,2.5e-05,0.012,0.0021,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.03,0.03,0.0086,0.053,0.053,0.036,3e-06,3e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
19890000,-0.28,0.011,-0.006,0.96,0.013,0.0077,0.022,0.0072,0.0057,0.013,-0.0014,-0.0061,2.5e-05,0.012,0.0019,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.033,0.033,0.0086,0.06,0.06,0.036,3e-06,3e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
19990000,-0.28,0.012,-0.006,0.96,0.013,0.0092,0.019,0.0067,0.0058,0.0097,-0.0014,-0.0061,2.5e-05,0.012,0.0016,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00045,0.00045,0.019,0.028,0.028,0.0085,0.051,0.051,0.036,2.7e-06,2.7e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
20090000,-0.28,0.012,-0.0061,0.96,0.012,0.011,0.019,0.008,0.0068,0.013,-0.0014,-0.0061,2.5e-05,0.012,0.0017,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00045,0.00045,0.019,0.031,0.031,0.0086,0.057,0.057,0.036,2.7e-06,2.7e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
20190000,-0.28,0.012,-0.006,0.96,0.011,0.0084,0.02,0.0077,0.0065,0.013,-0.0014,-0.006,2.5e-05,0.013,0.0016,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00045,0.00044,0.019,0.03,0.03,0.0085,0.059,0.059,0.036,2.6e-06,2.6e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
20290000,-0.28,0.012,-0.006,0.96,0.014,0.01,0.02,0.0089,0.0073,0.013,-0.0014,-0.006,2.5e-05,0.013,0.0016,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00045,0.00044,0.019,0.033,0.033,0.0085,0.066,0.066,0.036,2.6e-06,2.6e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
20390000,-0.28,0.012,-0.006,0.96,0.015,0.0089,0.021,0.0084,0.0068,0.014,-0.0014,-0.006,2.5e-05,0.013,0.0015,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00044,0.00044,0.019,0.031,0.031,0.0084,0.068,0.068,0.036,2.4e-06,2.4e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
20490000,-0.28,0.012,-0.006,0.96,0.019,0.011,0.02,0.01,0.0078,0.012,-0.0014,-0.006,2.5e-05,0.013,0.0014,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00044,0.00044,0.019,0.034,0.034,0.0085,0.076,0.076,0.036,2.4e-06,2.4e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
20590000,-0.28,0.012,-0.0059,0.96,0.018,0.011,0.02,0.0089,0.0072,0.011,-0.0014,-0.006,2.5e-05,0.014,0.0012,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00044,0.00043,0.019,0.033,0.033,0.0084,0.078,0.078,0.036,2.2e-06,2.2e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
20690000,-0.28,0.012,-0.0059,0.96,0.02,0.01,0.021,0.011,0.0082,0.011,-0.0014,-0.006,2.5e-05,0.014,0.0012,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00044,0.00044,0.019,0.035,0.035,0.0084,0.086,0.086,0.036,2.2e-06,2.2e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
20790000,-0.28,0.012,-0.0053,0.96,0.02,0.0067,0.0055,0.0067,0.0054,0.0097,-0.0014,-0.006,2.6e-05,0.014,0.001,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00042,0.00042,0.019,0.028,0.028,0.0084,0.067,0.067,0.036,2e-06,2e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
20890000,-0.28,0.0069,0.0034,0.96,0.028,-0.0037,-0.11,0.0092,0.0055,0.0034,-0.0014,-0.006,2.6e-05,0.014,0.00096,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00042,0.00042,0.019,0.031,0.031,0.0084,0.074,0.074,0.036,2e-06,2e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
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21190000,-0.28,0.0057,0.0022,0.96,0.059,-0.036,-0.5,0.0073,0.0018,-0.078,-0.0013,-0.006,2.5e-05,0.015,0.00028,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.0004,0.0004,0.019,0.025,0.025,0.0083,0.055,0.055,0.036,1.6e-06,1.6e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
21290000,-0.28,0.0072,0.00013,0.96,0.06,-0.04,-0.63,0.013,-0.002,-0.14,-0.0013,-0.006,2.5e-05,0.015,0.00021,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00041,0.0004,0.019,0.028,0.028,0.0083,0.061,0.061,0.036,1.6e-06,1.6e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
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1
src/modules/logger/logged_topics.cpp
View File

@ -291,6 +291,7 @@ void LoggedTopics::add_default_topics()
add_optional_topic_multi("estimator_aid_src_gnss_pos", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_gnss_vel", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_gnss_yaw", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_gravity", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_mag_heading", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_mag", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_optical_flow", 0, MAX_ESTIMATOR_INSTANCES);