feat(fusion): fuse Doppler velocity in ESKF

2026-07-25 13:11:33 +03:00
parent 2da5fb7153
commit 971be036a0
19 changed files with 647 additions and 106 deletions
@@ -10,6 +10,7 @@
 			double ecef_m[3];
 			double clock_bias_m;
 			double velocity_ecef_mps[3];
+			double velocity_covariance_ecef_mps2[3][3];
 			double clock_drift_mps;
 			double speed_mps;
 			double velocity_residual_rms_mps;