EKF: RingBuffer minor improvements

- 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

test/sensor_simulator/baro.cpp

@@ -15,8 +15,7 @@ Baro::~Baro()
 
 void Baro::send(uint64_t time)
 {
-	const baroSample baro_sample {_baro_data, time};
-	_ekf->setBaroData(baro_sample);
+	_ekf->setBaroData(baroSample{time, _baro_data});
 }
 
 void Baro::setData(float baro)

test/sensor_simulator/ekf_wrapper.cpp

@@ -17,9 +17,7 @@ void EkfWrapper::setBaroHeight()
 
 bool EkfWrapper::isIntendingBaroHeightFusion() const
 {
-	filter_control_status_u control_status;
-	_ekf->get_control_mode(&control_status.value);
-	return control_status.flags.baro_hgt;
+	return _ekf->control_status_flags().baro_hgt;
 }
 
 void EkfWrapper::setGpsHeight()
@@ -29,9 +27,7 @@ void EkfWrapper::setGpsHeight()
 
 bool EkfWrapper::isIntendingGpsHeightFusion() const
 {
-	filter_control_status_u control_status;
-	_ekf->get_control_mode(&control_status.value);
-	return control_status.flags.gps_hgt;
+	return _ekf->control_status_flags().gps_hgt;
 }
 
 void EkfWrapper::setRangeHeight()
@@ -41,9 +37,7 @@ void EkfWrapper::setRangeHeight()
 
 bool EkfWrapper::isIntendingRangeHeightFusion() const
 {
-	filter_control_status_u control_status;
-	_ekf->get_control_mode(&control_status.value);
-	return control_status.flags.rng_hgt;
+	return _ekf->control_status_flags().rng_hgt;
 }
 
 void EkfWrapper::setVisionHeight()
@@ -53,9 +47,7 @@ void EkfWrapper::setVisionHeight()
 
 bool EkfWrapper::isIntendingVisionHeightFusion() const
 {
-	filter_control_status_u control_status;
-	_ekf->get_control_mode(&control_status.value);
-	return control_status.flags.ev_hgt;
+	return _ekf->control_status_flags().ev_hgt;
 }
 
 void EkfWrapper::enableGpsFusion()

test/sensor_simulator/mag.cpp

@@ -15,8 +15,7 @@ Mag::~Mag()
 
 void Mag::send(uint64_t time)
 {
-	const magSample mag_sample {_mag_data, time};
-	_ekf->setMagData(mag_sample);
+	_ekf->setMagData(magSample{time, _mag_data});
 }
 
 void Mag::setData(const Vector3f& mag)

test/sensor_simulator/vio.cpp

@@ -61,15 +61,14 @@ void Vio::setOrientation(const Quatf& quat)
 
 void Vio::setVelocityFrameToBody()
 {
-	_vio_data.vel_frame = BODY_FRAME_FRD;
+	_vio_data.vel_frame = velocity_frame_t::BODY_FRAME_FRD;
 }
 
 void Vio::setVelocityFrameToLocal()
 {
-	_vio_data.vel_frame = LOCAL_FRAME_FRD;
+	_vio_data.vel_frame = velocity_frame_t::LOCAL_FRAME_FRD;
 }
 
-
 extVisionSample Vio::dataAtRest()
 {
 	extVisionSample vio_data;
@@ -79,7 +78,7 @@ extVisionSample Vio::dataAtRest()
 	vio_data.posVar = Vector3f{0.1f, 0.1f, 0.1f};
 	vio_data.velCov = matrix::eye<float ,3>() * 0.1f;
 	vio_data.angVar = 0.05f;
-	vio_data.vel_frame = LOCAL_FRAME_FRD;
+	vio_data.vel_frame = velocity_frame_t::LOCAL_FRAME_FRD;
 	return vio_data;
 }
 

test/test_EKF_measurementSampling.cpp

@@ -66,8 +66,7 @@ TEST_F(EkfMeasurementSamplingTest, baroDownSampling)
 			imu_sample.time_us = time;
 			_ekf->setIMUData(imu_sample);
 		}
-		const baroSample baro_sample {baro_data, time};
-		_ekf->setBaroData(baro_sample);
+		_ekf->setBaroData(baroSample{time, baro_data});
 		baro_data *= -1.0f;
 		time += 1000000 / baro_rate_Hz;
 	}

test/test_EKF_ringbuffer.cpp

@@ -62,7 +62,6 @@ class EkfRingBufferTest : public ::testing::Test {
 
 	void TearDown() override
 	{
-		_buffer->unallocate();
 		delete _buffer;
 	}
 };

test/test_SensorRangeFinder.cpp

@@ -59,7 +59,7 @@ public:
 
 protected:
 	SensorRangeFinder _range_finder{};
-	const rangeSample _good_sample{1.f, (uint64_t)2e6, 100}; // {range, time_us, quality}
+	const rangeSample _good_sample{(uint64_t)2e6, 1.f, 100}; // {time_us, range, quality}
 	const float _min_range{0.5f};
 	const float _max_range{10.f};