Luke/db ekf - #29
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KrishKittur wants to merge 11 commits into
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btw the drivebrain_config.json before this commit crashes drivebrain service, I'm updating it with a working one that has ekf related stuff (maybe because the old file was missing all the decimals so it casted weird?)
if i trust the speedometer, seems more accurate than vectornav's body velocity estimates. has latching boolean bugs when i disconnect an antenna tho
foxglove client refuses to reconnect after first param change. subsequent param changes are not registered. after first param change, new data will still be displayed, but if refreshed, journalctl shows getting stuck at "connected via /" i gave up and had codex fix it, but someone check it please
somewhat resilient to tilt (still 2d model). increase zero_vel_update_sigma more to increase the tilt angle ceiling before the estimates grow unconstrained (though makes update weaker)
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