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sensors/vehicle_imu: use WelfordMean for online mean and variance

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Daniel Agar
2021-11-08 11:18:18 -05:00
committed by Mathieu Bresciani
parent a8c3bcca32
commit e18cf3da3e
3 changed files with 59 additions and 45 deletions
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msg/vehicle_imu_status.msg
+2 -1
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@@ -20,7 +20,8 @@ float32 gyro_coning_vibration # Level of coning vibration in the IMU delta ang
float32[3] mean_accel # average accelerometer readings since last publication
float32[3] mean_gyro # average gyroscope readings since last publication
float32[3] var_accel # average accelerometer variance since last publication
float32[3] var_accel # accelerometer variance since last publication
float32[3] var_gyro # gyroscope variance since last publication
float32 temperature_accel
float32 temperature_gyro