Currently if one runs the OdometryFilter in KVHDriveNode it quickly returns nan's for state regaurdless of input/measurement. This seems to result from the covariance matrix becoming non Positive-Definite, a requirement of the EKF. One possibility could be the perfect linear dependance of some states on other states.
Currently if one runs the OdometryFilter in KVHDriveNode it quickly returns nan's for state regaurdless of input/measurement. This seems to result from the covariance matrix becoming non Positive-Definite, a requirement of the EKF. One possibility could be the perfect linear dependance of some states on other states.