IQ.Pilot Release Commit @ cd83f5a

iqpilot/selfdrive/iqlocd/models/orbit_kf_constants.h

@@ -0,0 +1,42 @@
+/*
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+*/
+#pragma once
+
+#define STATE_ECEF_POS_START 0
+#define STATE_ECEF_POS_LEN 3
+#define STATE_ECEF_ORIENTATION_START 3
+#define STATE_ECEF_ORIENTATION_LEN 4
+#define STATE_ECEF_VELOCITY_START 7
+#define STATE_ECEF_VELOCITY_LEN 3
+#define STATE_ANGULAR_VELOCITY_START 10
+#define STATE_ANGULAR_VELOCITY_LEN 3
+#define STATE_GYRO_BIAS_START 13
+#define STATE_GYRO_BIAS_LEN 3
+#define STATE_ACCELERATION_START 16
+#define STATE_ACCELERATION_LEN 3
+#define STATE_ACC_BIAS_START 19
+#define STATE_ACC_BIAS_LEN 3
+#define STATE_ECEF_POS_ERR_START 0
+#define STATE_ECEF_POS_ERR_LEN 3
+#define STATE_ECEF_ORIENTATION_ERR_START 3
+#define STATE_ECEF_ORIENTATION_ERR_LEN 3
+#define STATE_ECEF_VELOCITY_ERR_START 6
+#define STATE_ECEF_VELOCITY_ERR_LEN 3
+#define STATE_ANGULAR_VELOCITY_ERR_START 9
+#define STATE_ANGULAR_VELOCITY_ERR_LEN 3
+#define STATE_GYRO_BIAS_ERR_START 12
+#define STATE_GYRO_BIAS_ERR_LEN 3
+#define STATE_ACCELERATION_ERR_START 15
+#define STATE_ACCELERATION_ERR_LEN 3
+#define STATE_ACC_BIAS_ERR_START 18
+#define STATE_ACC_BIAS_ERR_LEN 3
+#define OBSERVATION_PHONE_GYRO 4
+#define OBSERVATION_NO_ROT 9
+#define OBSERVATION_PHONE_ACCEL 10
+#define OBSERVATION_ECEF_POS 12
+#define OBSERVATION_CAMERA_ODO_TRANSLATION 13
+#define OBSERVATION_CAMERA_ODO_ROTATION 14
+#define OBSERVATION_ECEF_ORIENTATION_FROM_GPS 32
+#define OBSERVATION_NO_ACCEL 33
+#define OBSERVATION_ECEF_VEL 35