Hello all
I went through the code of LPE carefully and have a question about the offset of the IMU and flow camera position,
how does the LPE deal with the IMU and camera offset in LPE, i.e. if the IMU or flow camera is not in the center of the drone.
I also viewed the code in EKF2, and there are code dealing with the params: EKF2_IMU_POS_X, EKF2_IMU_POS_Y, EKF2_IMU_POS_Z.
But I did not find any params dealing with it in LPE.
And I wonder if it should be in the sensors module, since the acc value on the sensor_combined topic should be the acceleration of the drone, not where IMU is mounted.
Anyone knows the reason?
Thanks.
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In EKF2, the offset is used before publishing the states.
The position and velocity are subtracted by the position offset times angular velocity.
I wonder if this be the better method, or compensate in the raw data of accelerometer by subtracting w^2*offset.
Thanks to anyone who tested or has an idea.