* Add requirements.txt file with required Python packages
* Read requirements.txt from CMakeLists.txt to check dependencies and alert the
user if necessary.
* Add SWIG interface definition (and external numpy interface) to ecl classes
* Add section in CMakeLists.txt to build Python bindings and execute
Python-based tests
* Write (property-based) tests that show the basic functionality of the Python
bindings and the EKF (using pytest and hypothesis libraries)
* Write minimal benchmark for the EKF update (using benchmark plugin for pytest)
* Add plotting utilities to analyze tests
* Add lint script to keep the Python scripts clean
* This is a sane choice (and should arguably always be done for classes with
virtual methods to avoid undefined behavior)
* It is required for wrapping the EstimatorInterface with SWIG (without virtual
destructor, deriving from the EstimatorInterface leads to
-Werror=delete-non-virtual-dtor).
When starting aiding using EV only and commencing GPS aiding later, this change means that the GPS origin is set to the local position 0,0 point rather than the current vehicle position. This avoids large changes in local position when GPs aiding starts.
Fuse external vision data using a relative position odometry method when GPS data is also being used and enable both GPOS and EV data to be fused on the same time step.
Moves calculation only required for mag heading fusion into the if (_control_status.flags.mag_hdg) branch
When using EV yaw, the observed yaw angle is calculated directly from the EV quaternions using derived expressions from references in code comments.
This enables the initial uncertainty to be set based on application and also ensures that the max allowed growth in wind state variance is consistent with the initial uncertainty specified.
- when switching to range finder use the current terrain estimate as
height sensor offset, otherwise spikes in the range measurements could lead
to a wrong offset
Signed-off-by: Roman <bapstroman@gmail.com>
- do not subtract the height sensor offset variable when computing the
baro offset from the local origin. The baro height offset is calculated
when baro is not fused and so the height sensor offset used in that case
is associated to another sensor and has nothing to do with the baro.
Signed-off-by: Roman <bapstroman@gmail.com>
Peter Dürr
Paul Riseborough
ChristophTobler
Paul Riseborough
Isaac
Daniel Agar
Roman