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EKF: RingBuffer minor improvements

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- allocate IMU and output buffers on construction according to defaults
 - determine buffer max time delay based on configuration parameters
 - reorder flowSample and extVisionSample to minimize padding
 - adjust parameter defaults to match PX4-Autopilot
This commit is contained in:
Daniel Agar
2020-12-03 20:48:51 -05:00
committed by GitHub
parent 67f13f7ede
commit 03cfcb903e
12 changed files with 85 additions and 111 deletions
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EKF/estimator_interface.h
+4 -6
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@@ -323,7 +323,10 @@ protected:
bool _gps_drift_updated{false}; // true when _gps_drift_metrics has been updated and is ready for retrieval
// data buffer instances
RingBuffer<imuSample> _imu_buffer;
RingBuffer<imuSample> _imu_buffer{12}; // buffer length 12 with default parameters
RingBuffer<outputSample> _output_buffer{12};
RingBuffer<outputVert> _output_vert_buffer{12};
RingBuffer<gpsSample> _gps_buffer;
RingBuffer<magSample> _mag_buffer;
RingBuffer<baroSample> _baro_buffer;
@@ -331,8 +334,6 @@ protected:
RingBuffer<airspeedSample> _airspeed_buffer;
RingBuffer<flowSample> _flow_buffer;
RingBuffer<extVisionSample> _ext_vision_buffer;
RingBuffer<outputSample> _output_buffer;
RingBuffer<outputVert> _output_vert_buffer;
RingBuffer<dragSample> _drag_buffer;
RingBuffer<auxVelSample> _auxvel_buffer;
@@ -375,9 +376,6 @@ private:
void printBufferAllocationFailed(const char *buffer_name);
// free buffer memory
void unallocate_buffers();
ImuDownSampler _imu_down_sampler{FILTER_UPDATE_PERIOD_S};
unsigned _min_obs_interval_us{0}; // minimum time interval between observations that will guarantee data is not lost (usec)