Resolve "Check sensor->getIntrinsic(time) for time = KF_time"

Closes #382 (closed)

Trying with an EPS tolerance in function SensorBase::findLastCaptureBefore(const TimeStamp& _ts)

added 1 commit

• a716a907 - Try an EPS tolerance

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added 1 commit

• 0be31e75 - Set the capture's calibration with best results available in case of new KF

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This was the situation before the fix

where

• px is position in x axis
• vx is velocity
• bax_est is estimated acc bias
• bax_preint is preintegration bias

This is the situation after the fix. The estimated bias glitch at t = 2, coinciding with a KF, is gone.

unmarked as a Work In Progress

enabled an automatic merge when the pipeline for 0be31e75 succeeds

approved this merge request

merged

mentioned in commit dfb64bd4

@joanvallve you could check if IMU+GNSS is now working better or not after this fix.