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ekf2: migrate sideslip fusion to SymForce

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- split fusion into update (compute innov and innov_var) and actual fusion to the state vector
- use estimator_aid_source_1d struct to group the data
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bresch
2022-10-05 15:23:03 +02:00
committed by Daniel Agar
parent c09be0f0ac
commit 5f54f6fcda
13 changed files with 441 additions and 163 deletions
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msg/estimator_aid_source_1d.msg
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@@ -20,5 +20,5 @@ bool fused # true if the sample was successfully fused
# TOPICS estimator_aid_source_1d
# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_rng_hgt estimator_aid_src_airspeed
# TOPICS estimator_aid_src_fake_hgt
# TOPICS estimator_aid_src_fake_hgt estimator_aid_src_sideslip
# TOPICS estimator_aid_src_mag_heading estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw