gps sacc: apply same minimum for EKF2 and yaw estimator

PX4 / PX4-ECL

Estimation & Control Library for Guidance, Navigation and Control Applications

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gps sacc: apply same minimum for EKF2 and yaw estimator #992

Closed bresch closed 3 years ago

bresch commented 3 years ago

The yaw estimator should use the same maximum GNSS speed accuracy controlled by the user-defined parameter.

priseborough commented 3 years ago

How do we know if 0.01 is an appropriate minimum for the bank of 5 EKF yaw estimators. I would like to see some testing with RTK GPS or simulated RTK GPS accuracies using SITL.

bresch commented 3 years ago

I tried a few times in STIL jMAVSim and did not find any issue. The bank of yaw estimators converges properly and the variances don't seem to have any numerical issue. example log: https://logs.px4.io/plot_app?log=78810a15-04ba-4645-882e-2669a15ce968 DeepinScreenshot_select-area_20210323162607