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| n_r = cf.factor.ref | ||
| nRp = p.x[2] | ||
| n_m = nRp * p_m | ||
| return n_r - n_m |
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Partials must be indicated, and for gravity should only be pitch and roll.
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It's not that simple. Pitch and Roll are not on the same manifold as the parameters or measurement.
I don't know yet how to make it work for the non-parametric solver, that's why no partials.
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Also, what if the sensor is mounted with a pitch of 90 deg?
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I think this is where the gradients come in - or info per coord
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that is why we are starting with gyro only, and we can get to accels once we are ready to work on them. This can become a rabbit hole of calib, 0vel detect etc. So I say just hold on accels entirely until we are ready for it. I need your help on the application examples please.
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I think results will be bad without absolute information. I've added partials as I see it.
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yep, agree adding gravity alignment will be good, let's just solve the bigger problem of alignments, rotations, and calibrations first. Will start using this factor soon after
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Idea for discussion.