[paparazzi-commits] [paparazzi/paparazzi] affd43: [ins_invariant] reset state position and speed pro...

[Hector Garcia de Marina]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: affd433ea07942ecd610976790b5d127a80109b8
      
https://github.com/paparazzi/paparazzi/commit/affd433ea07942ecd610976790b5d127a80109b8
  Author: Gautier Hattenberger <gautier.hattenberger@enac.fr>
  Date:   2021-08-24 (Tue, 24 Aug 2021)

  Changed paths:
    M conf/modules/ins_float_invariant.xml
    M sw/airborne/subsystems/ahrs/ahrs_aligner.c
    M sw/airborne/subsystems/ahrs/ahrs_aligner.h
    M sw/airborne/subsystems/ins/ins_float_invariant.c
    M sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c

  Log Message:
  -----------
  [ins_invariant] reset state position and speed properly

It prevents the filter to jump to the new position, which can create a
wrong estimation of the accelerometer scale bias.
Aligner is restarted if needed.

Also fix float constants and other small details.


  Commit: dcc14164d8c9068b82db49f33b852fbff9a5bdc1
      
https://github.com/paparazzi/paparazzi/commit/dcc14164d8c9068b82db49f33b852fbff9a5bdc1
  Author: Hector Garcia de Marina <noeth3r@gmail.com>
  Date:   2021-08-26 (Thu, 26 Aug 2021)

  Changed paths:
    M conf/modules/ins_float_invariant.xml
    M sw/airborne/subsystems/ahrs/ahrs_aligner.c
    M sw/airborne/subsystems/ahrs/ahrs_aligner.h
    M sw/airborne/subsystems/ins/ins_float_invariant.c
    M sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c

  Log Message:
  -----------
  Merge pull request #2768 from enacuavlab/fix-ins_invariant_reset

[ins_invariant] reset state position and speed properly


Compare: 
https://github.com/paparazzi/paparazzi/compare/32eb688f2c4b...dcc14164d8c9