onur cayan
80ef92ba01
Tuning the velocity covariance floors and the zero-velocity veto threshold needs the receiver's velocity noise, which cannot be recovered from the existing records: the raw observation and the filter state were logged in different lines at different rates, so they could not be differenced. Hold the converted ENU Doppler velocity from the last fix and publish it alongside the filter state in one line at one instant, with their difference (the velocity innovation) and the at-rest flag. With the platform still, the raw reading is the noise itself. An IMU does not measure speed; the eskf_* fields are the integrated result after GNSS correction, and are the only inertial speed available. First capture, stationary: per-axis sigma 0.12 E, 0.25 N, 0.59 U m/s. The vertical channel carries most of it, which the previous scalar speed field could not show. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
37 lines
938 B
C
37 lines
938 B
C
#ifndef GPS_SYSTEM_UART_H
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#define GPS_SYSTEM_UART_H
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#include <stdbool.h>
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#include <stdint.h>
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#include "fusion/navigation_fusion.h"
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#include "gps/NavEquations.h"
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void gps_system_uart_publish_location(
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const char* source,
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double latitude_deg,
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double longitude_deg,
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double height_m,
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const gps_nav_solution_t* gps);
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void gps_system_uart_publish_fused_location(
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const navigation_fusion_output_t* output);
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/* Raw Doppler velocity beside the ESKF velocity state, for tuning the
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* velocity covariance floors and the zero-velocity veto threshold. */
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void gps_system_uart_publish_velocity(
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const navigation_fusion_output_t* output);
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void gps_system_uart_publish_startup(
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bool fusion_enabled,
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bool fusion_initialized,
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bool imu_initialized,
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bool imu_running,
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unsigned int fused_publish_every_samples);
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void gps_system_uart_publish_periodic_fusion_status(
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navigation_fusion_output_t* output,
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uint64_t* last_status_tick);
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#endif
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