tpreynolds
commented
6 years ago Gonna add the following EKF tests to this issue. I called this a "stress test" for SGP4, and you can use a similar set up for this test:
- Test all logic conditions in the EKF, make sure we are not updating when: -- gyro invalid -- sun invalid -- mag invalid -- eclipse -- MTs drawing too much power
Envelop EKF and TRIAD into a single state-estimation library block that has internal logic that switches from the TRIAD to the EKF once it has converged. The TRIAD and EKF should run in parallel always, and the EKF should switch to TRIAD in the event of gyro failure.