I would like uncertainty information for the wind estimate which is produced by the NavEKF2 filter and saved in the .bin log. Based on my understanding of EKFs, this is the time-history of the 2 diagonal elements of the EKF covariance matrix P corresponding to states VWN and VWE. (I think they would be the 23rd and 24th elements of P’s diagonal.)
I’m looking through the AP_NavEKF2 code, and I don’t see any methods which access this information. Do any exist?
If not, and my understanding is correct that the diagonal elements of P contain the wind-estimate variance, is there any way to “re-simulate” the EKF code by drawing information from a dataflash log? (I hope then, if I can re-run, I can obtain an exact copy of the info I’m seeking.)