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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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test/sensor_simulator/vio.cpp
+3 -4
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@@ -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;
}