The covariance prediction derivation was using the noise 1-std value instead of the noise variance. This resulted in the values of IMU process noise required to tune not matching the observed covariance growth.
Work around limitation in Symbolic toolbox environment space by incrementally saving and clearing workspace
Remove vehicle vertical position from optical flow prediction equations (use range measurement instead) and regenerate auto-code
Remove legacy optical flow auto-code conversion method as it is not required now a work around for symbolic toolbox limitations has been developed
Fix out of date syntax
The atan function is now being used correctly instead of the tan function. This fixes problems with large heading errors or declination values.
The simple heading fusion has been decoupled from the magnetic field measurements. This enables external yaw measurements to be used in the future.
Paul Riseborough
Paul Riseborough