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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/test_EKF_measurementSampling.cpp
+1 -2
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@@ -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;
}