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Merge pull request 'Use STR for MEKF as default' (#899) from allow-mekf-str into main
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Reviewed-on: #899
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>
This commit is contained in:
Marius Eggert 2024-06-20 09:10:05 +02:00
commit 80ce299d37
2 changed files with 4 additions and 1 deletions
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CHANGELOG.md
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@ -16,6 +16,9 @@ will consitute of a breaking change warranting a new major release:
# [unreleased] # [unreleased]
## Changed
- STR quaternions are now used by the `MEKF` by default
# [v8.1.1] 2024-06-05 # [v8.1.1] 2024-06-05
## Added ## Added

2
mission/controller/acs/AcsParameters.h
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@ -949,7 +949,7 @@ class AcsParameters : public HasParametersIF {
double sensorNoiseGyrArw = 3. * 0.0043 / sqrt(10) * DEG2RAD; // Angular Random Walk double sensorNoiseGyrArw = 3. * 0.0043 / sqrt(10) * DEG2RAD; // Angular Random Walk
double sensorNoiseGyrBs = 3. / 3600. * DEG2RAD; // Bias Stability double sensorNoiseGyrBs = 3. / 3600. * DEG2RAD; // Bias Stability
uint8_t allowStr = false; uint8_t allowStr = true;
} kalmanFilterParameters; } kalmanFilterParameters;
struct MagnetorquerParameter { struct MagnetorquerParameter {