bresch 0f1c7590e9 HoverThrustEstimator: add a new single state estimator ...

with measurement noise auto-tuning

The purpose of this estimator is to improve land detection and vertical
velocity feedforward

Recovery strategy:
This is required when the setpoint suddenly changes in air or that the
EKF is diverging. A lowpassed test ratio is used as a trigger for the recovery logic
Also, a lowpassed residual is used to estimate the steady-state value
and remove it when estimating the accel noise to avoid increasing the
accel noise when the redisual is caused by an offset.

2020-02-07 11:52:52 +01:00

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