When the antennas are not parallel to the x body axis, the GPS message
contains the angular offset but the data is already corrected in the
driver. EKF2 should then not add this offset during the initialisation.
This fixes the cases where the yaw message from the GNSS receiver would
take more time than the vel/pos. The estimator should wait and not
immediately fall back to an other aiding source after 5sec.
If it never comes, it will never fall back, but this is ok since the
user wants to fly with GPS aiding an not with something else.
* Fix comment
* Ekf wrapper for testing
Add utility function for accessing information in the ekf object
* Add step function for Gps sensor
* Add RangeFinder and Flow to simulated sensors
* Add first fusion logic tests
* Add units to function name
* Use EXPECT_TRUE
* Adding missing qualifiers
* Improve EXPECT_ calls
* Improve naming
bresch
kamilritz