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buczek-j / usrp-utils

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EKF Home is not always right #16

Open lobe7 opened 3 years ago

lobe7 commented 3 years ago

Recording home location after takeoff might help get clearer GPS readings and avoid SDR flashing EM interference

buczek-j commented 3 years ago

An alternative way to solve this would be to instead of calculating the offset of the origin, to calculate the Lat/Lon and pass in Lat/Lon positions directly. The reason that I chose to pass NED commands was in case we needed to do GPS denied environments. But for the most part, we are only using outdoor experiments. I that this will solve this EKF offset issue by directly sending absolute locations as opposed to dealing with all of the home positions.

lobe7 commented 3 years ago

That's a viable option.