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Felix Ruess
ahrs float_cmpl: hard realign heading once you get a good gps fix
also only update heading if course accuracy is good
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9ea34ed5006125e7099f8ceac549b8679fb66c31 |
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Felix Ruess
ahrs quaternion: in update_heading: attempt to only update bias if deviation is small
e.g. needed when you only have gps providing heading
and the inital heading is totally different from
the gps course information you get once you have a gps fix.
Otherwise the bias will be falsely "corrected".
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a35639268ca10c90ef6a4777bfe093f2adef0115 |
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Felix Ruess
gps: added course accuracy field, only filled with gps_ubx so far
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ed45e0147600e4a1398087b1337dd661bb677e46 |
| 6 more changes… |