The yaw angle could have changed by a significant amount making the correlations invalid.
Setting angle variances to zero prevents the initial kick in angles due to 3D fusion starting
The position reset was not being compensated for velocity and measurement delay
The height was being reset with the position. It has been moved into a separate reset function
The maximum accepted GPS delay of 100msec was inadequate
The states was being incorrectly reset to the GPS position and Baro height on initial alignment.
The position reset was not being compensated for velocity and measurement delay
The height was being reset with the position. It has been moved into a separate reset function
The maximum accepted GPS delay of 100msec was inadequate
The states was being incorrectly reset to the GPS position and Baro height on initial alignment.
Roman Bapst
Paul Riseborough
bugobliterator
CarlOlsson
nickolasrossi
Mark Charlebois
Lorenz Meier