3 Commits

Author	SHA1	Message	Date
bresch	1c3a1183c8	ekf2-flow: refactor control logic ... Use flow rates instead of integrals in backend. This allows us to delay the data to the mitpoint integration time and simplifies the code in general. Gyro compensation can still be done in EKF2 if needed, but the flow module normally already appends the correct gyro data to the flow message.	2023-11-21 21:56:34 -05:00
Mathieu Bresciani	d61743412c	ekf2: fix flow gyro bias corrections (#22145) ... * ekf2-flow: fix flow gyro bias compensation * ekf2-flow: apply flow gyro bias when used * ekf2: log optical flow gyro bias * ekf2: optical flow control always use provided flow gyro (with bias applied) * ekf2-flow: log flow gyro and gyro reference * ekf2-flow: support senrors with XY flow gyro --------- Co-authored-by: Daniel Agar <daniel@agar.ca> Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>	2023-10-05 10:51:30 -04:00
Daniel Agar	cea185268e	msg ROS2 compatibility, microdds_client improvements (timesync, reduced code size, added topics, etc), fastrtps purge ... - update all msgs to be directly compatible with ROS2 - microdds_client improvements - timesync - reduced code size - add to most default builds if we can afford it - lots of other little changes - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)	2022-10-19 19:36:47 -04:00