ArduPilot/ardupilot
AP_DDS: Support IMU+gyro+accel data for rate control or offboard fusion
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#23.478 aperta il 14 apr 2023
EKFROSgood first issue
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Descrizione
From AP_AHRS, the data is filtered and good for rate control. This is the data after notch+low pass, phase lag and all. This goes on imu_filtered topic.
For offboard fusion, we can do it "badly". We would need delta angle, delta velocity, all the data products from INS that are not filtered. We have to know the lag to do delayed time fusion with lag on the GPS. This would be on imu_raw.
Current EKF does delayed time fusion (in delayed time) with forward propagation to the current time. Doesn't work as well in dynamic flight. Researchers want to do this.
Adding things like vision odometry back into ArduPilot (visual mavlink odometry) - this is preferred for performance so ArduPilot's EKF can fuse the data.