Detect if filter has diverged #25
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does it make sense to use a throttled message here? once you have diverged, this will spam the console quite badly I would think
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It does spam the console rather a lot. I'll switch it to a throttled message or a once-only message.
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I would suggest throttle over once-only so that if you remotely open rqt_console or similar after the filter has diverged, you will still see the message.
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Should this also be added to the other filters? (velocity & attitude) |
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I updated the error message to only print every 5 seconds. I'll look into adding this to the other filters as well. |
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I've added divergence check of the velocity and attitude filters. Let me know if you'd like me to squash these commits down before they're merged. |
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Sorry for the long delay -- this looks good, if you want to squash it, we can merge it |
My particular configuration was diverging frequently due to poor configuration, so I added a check for it and some debugging output about the last set of messages the the filter received before it diverged.
This is generally quite useful for spotting bad input data or bad covariances.