drv/pose_estimator: add an EKF on odometry and position-only LH2 fixes - #33

Merged

geonnave merged 12 commits into

DotBots:mainfrom

geonnave:estimator

Sep 25, 2026

Commits on Sep 25, 2026

drv/geometry: add the effective track and the fitted lever arm for v3
geonnave
committed
f36b2dc
drv/pose_estimator: add an EKF on odometry and position-only LH2 fixes
geonnave
committed
b5497b8
drv/wheel_control: mix a body twist over the effective track
geonnave
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59b11c4
drv/geometry: raise the effective track with the turn radius
geonnave
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a8b8d45
drv/pose_estimator: move fixes forward by their age and retune to the floor
geonnave
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b5d0878
drv/pose_estimator: apply clang-format
geonnave
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80a7839
drv/pose_estimator: reseed at once when a still robot is moved by hand
geonnave
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4890492
drv/pose_estimator: compensate a fix age of 2 ticks, as measured
geonnave
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7ef545e
drv/pose_estimator: update the covariance in Joseph form
geonnave
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e2dd56d
drv/pose_estimator: seed the pose at the present, not at fix capture
geonnave
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efb7bdf
drv/pose_estimator: cover a broken seed chain and a carry past the timeout
geonnave
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e65427f
drv/pose_estimator: stop reading a hard stop's slip as a kidnap
geonnave
committed
d2a88c5