onur/gps
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

feat(fusion): fuse Doppler velocity in ESKF

Browse Source
This commit is contained in:
onur
2026-07-25 13:11:33 +03:00
parent 2da5fb7153
commit 971be036a0
19 changed files with 647 additions and 106 deletions
Download Patch File Download Diff File Expand all files Collapse all files
soc/software/gps_system/src/adapters/gps_system_uart.c
+5 -1
View File
@@ -116,15 +116,19 @@ void gps_system_uart_publish_periodic_fusion_status(
{
GPS_LOG(DEBUG_EVENTS, GPS_LOG_CAT_FUSION,
"state=%s lat=%.10lf lon=%.10lf height=%.3lf "
"speed=%.3lf nis=%.3lf gps=%lu/%lu recoveries=%lu "
"speed=%.3lf pos_nis=%.3lf vel_nis=%.3lf "
"gps=%lu/%lu velocity=%lu/%lu recoveries=%lu "
"zupt=%lu replay=%lu "
"sigma=%.2lf,%.2lf,%.2lf imu=%lu fused_imu=%lu "
"overflow=%lu missed=%lu\r\n",
fusion_motion_state_name(output->motion_state),
output->latitude_deg, output->longitude_deg, output->height_m,
output->speed_mps, output->last_position_nis,
output->last_velocity_nis,
(unsigned long)output->gps_accepted,
(unsigned long)output->gps_nis_rejected,
(unsigned long)output->gps_velocity_accepted,
(unsigned long)output->gps_velocity_nis_rejected,
(unsigned long)output->gps_position_recoveries,
(unsigned long)output->zero_update_count,
(unsigned long)output->replay_count,