EKF update Qt

[Teemu Kumpumäki]

In the EKF update function where do this another 0.5*dt come from? I don't see it in the equations on the documentation.

W = 0.5*dt * np.r_[[-q[1:]], q[0]np.identity(3) + skew(q[1:])] # Jacobian W = df/dω
Q_t = 0.5dt * self.g_noise * W@W.T # Process Noise Covariance

[Mario Garcia]

Omg! You're right. That 0.5*dt shouldn't be there. I fixed it with the commit a214a7b

It doesn't change much of the result, but it has to be correct.

Thanks for pointing it out!