Closed evan-palmer closed 1 year ago
I am going to wait until I test this out with an actual motion capture system before I implement a filter for this. The ArduSub EKF may be sufficient here
This is handled by the ArduPilot EKF. Going to close this unless any issues arise
Feature Type
Adding new functionality to the BlueROV2 driver
Problem Description
The motion capture measurements can be noisy. This can introduce issues when using the motion capture system for localization with custom controllers.
Feature Description
Implement either a Gaussian filter or a LWMA filter to filter the state information.
Alternative Solutions
It's possible to rely upon the ArduPilot EKF to filter this state information; however, this may still ultimately introduce unnecessary noise in the measurements.
Additional Context
No response