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Peter BarkerandClaude Fable 5
041b0c8657
POS and SIM are written back-to-back by AP_AHRS logging, so each pair compares the estimated and true position at effectively the same instant. A backend which fails to stamp state.last_location_update_us defeats get_location's velocity extrapolation and reports a position stale by up to one filter-packet interval - an error proportional to groundspeed. The check runs in fly_external_AHRS, covering all external AHRS backends. Measured mean errors at cruise: VectorNav 0.000m, MicroStrain5 0.000m, MicroStrain7 0.080m, InertialLabs 0.038m, SensAItion 0.069m, Aeron PLX3 0.063m - all well inside the 0.4m threshold. Before the previous commit MicroStrain7 failed this check with a mean error of 0.64m. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>