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@gsilano gsilano released this 07 Apr 16:44
· 196 commits to master since this release
0.1.4
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Learn about vigilant mode.

Main Features.

  • Added the Kalman filter
  • Added plots in the launch file to monitor the position and linear velocity errors between the Kalman filter output and the odometry ground truth values. In order to develop such functionality, the teamsannio messages have been created.
  • A yaml file needed to set up the Kalman filter has been created. This file contains the tuning matrix of the filter and the standard deviations that characterize the odometry virtual sensor.
  • The Kalman filter works with the noisy attitude (standard deviation 0.017). This function considers the nonideality of the attitude filter onboard the quadrotor.

Contributors

Pasquale Oppido, Giuseppe Silano, Luigi Iannelli

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