dimensionalOS / dimensionalOS/dimos
ZUPT in the odometry fusion ESKF
Open
Nobody has claimed this yet.
- Dominant language
- Python
- Stars
- 4.5k
- Forks
- 808
- Avg merge
- 3d 5h
- Merged PRs (30d)
- 233
Description
Stationary detector already exists (STATIONARY_GYRO_LIMIT, rust/src/odometry_fusion.rs) but only runs at init. Run it continuously and apply a zero-velocity + zero-angular-rate update when it fires.
Synced from DIM-1523 by jeff
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start in rust/src/odometry_fusion.rs by reading the existing STATIONARY_GYRO_LIMIT detector and how it is invoked during initialization. Trace the odometry fusion update path, then verify that stationary periods continuously trigger zero-velocity and zero-angular-rate updates rather than only being checked at init.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- rust
- Domain
- robotics
- Issue type
- Feature
- Difficulty
- 3/5
- Estimated time
- 1-2 days
- Activity status
- Active
- Clarity
- Mostly clear
- Newbie friendliness
- 68/100