insgps14state is unstable at high pitch angles

Description

insgps14state is buggy. see comments on for details.

Proposed fix in a nutshell:

  • Switch Back to insgps13state which is stable

  • Do fixes to make insgps13state compatible to changes in stateestimation done for 14state

  • Fix EKFConfiguration back to values that work with 13state

  • Make insgps13state invulnerable to roll/pitch deviations caused by bad magnetometer readings

Environment

None

Assignee

Eric Price

Reporter

Eric Price

Labels

None

Components

Fix versions

Affects versions

Priority

High
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