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[DO NOT MERGE] Add gyro bias initialization unit test #1022

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[DO NOT MERGE] Add gyro bias initialization unit test #1022

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@bresch bresch commented Jul 6, 2021 •
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After initialization of the EKF a sudden change of Z gyro bias creates the divergence of the Z accel bias through the heading fusion.

Result of the unit test:

Bias diverged = (0, 0, -0.31142398715019226), i =34

@bresch bresch requested a review from priseborough July 6, 2021 08:23
@bresch bresch self-assigned this Jul 6, 2021
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priseborough reviewed Jul 6, 2021
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test looks sensible

@bresch bresch mentioned this pull request Jul 13, 2021
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bresch commented Jul 13, 2021

replaced by #1026

@bresch bresch closed this Jul 13, 2021
@bresch bresch deleted the accel-bias-hdg-fusion branch July 13, 2021 08:03
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