When indicating payload(s) in the vehicle.yam and mission.yaml, for which the positions estimates are then generated when running auv_nav, the EKF solution changes, which can be checked e.g. by comparing the EKF solution for one of the cameras.
This should not be the case. Adding payload files adds timestamps, but as no updates happen for those timestamps (only prediction), the EKF solution should not change.
The fact that it does change indicates that there may be a bug, and it is also an inconvencience, as data processed prior to adding payload when computing the nav solution cannot be displayed with data processed after adding payload when computing the nav solution.
When indicating payload(s) in the vehicle.yam and mission.yaml, for which the positions estimates are then generated when running auv_nav, the EKF solution changes, which can be checked e.g. by comparing the EKF solution for one of the cameras.
This should not be the case. Adding payload files adds timestamps, but as no updates happen for those timestamps (only prediction), the EKF solution should not change.
The fact that it does change indicates that there may be a bug, and it is also an inconvencience, as data processed prior to adding payload when computing the nav solution cannot be displayed with data processed after adding payload when computing the nav solution.