* EKF: Improve covariance prediction stability
Eliminates collapse of vertical velocity state variance due to rounding errors that can occur under some operating conditions.
* EKF: Fix typo
* test: Fix initialisation test cases
Provide sufficient time for variances to stabilise and fix calculation of reference quaternion for alignment.
* test: Allow for accumulated rounding error in IMU sampling test
* test: Allow sufficient time for quaternion variances to reduce after initial alignment
* test: Increase allowance for tilt alignment delay and inertial nav errors
* test: Increase allowance for tilt alignment delay and inertial nav errors
* adpat reset velocity test
* test: update change indication file
* test: Adjust tests to handle alignment time and prediction errors
* README.md: Add documentation for change indicator test
* EKF: do not fuse multiple times the same height
The _fuse_height flag was never set to zero, hence the fusion was called
at each iteration, even if no new data is available.
The effects were: high CPU usage and virtually less measurement noise
due to multiple fusion of the same sample
Also remve unused variables
* Add primitive logging for Ekf
* Add python script to extract sensor data from ULog
* Add primitive sensor replay
* Add iris_gps data for sensor replay
* Add CI for functional change indication
* Update sensor replay flow data type
* update iris_gps_change indication
* test: Update EKF replay test documentation
Co-authored-by: Paul Riseborough <priseborough@users.noreply.github.com>
Paul Riseborough
kamilritz
bresch
Julian Kent