Todo List

Member displayResults (in x_fp, in x_bp, in zv, in idx_at_turn, in options)

change process noise based on zero velocity detection

Member JumpSensor::generate (in obj, in acc_true, in gyr_true, in ori_true, in options)

check the covariances of the sensors

check the axis misalignment and sensitivity over time.

Member oriDiff (in ori_est, in ori_true)

change process noise based on zero velocity detection

change process noise based on zero velocity detection

change process noise based on zero velocity detection

Page Part 5: 6D EKF-RTS (Orientation Only)

check with wadh if this makes sense, since the quaternions are not uncorrelated.

check with wadh if this makes sense, since the axis are not uncorrelated due to the cross-sensitivity.