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ekf2: add GNSS yaw max interval

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yaw data usually comes at lower rate than vel/pos
This commit is contained in:
bresch
2022-11-14 10:45:23 -05:00
committed by Daniel Agar
parent 9834c7917b
commit 06702da003
3 changed files with 9 additions and 8 deletions
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src/modules/ekf2/EKF/common.h
+5 -4
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@@ -66,10 +66,11 @@ using math::Utilities::sq;
using math::Utilities::updateYawInRotMat;
// maximum sensor intervals in usec
#define BARO_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between pressure altitude measurements (uSec)
#define EV_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between external vision system measurements (uSec)
#define GPS_MAX_INTERVAL (uint64_t)5e5 ///< Maximum allowable time interval between GPS measurements (uSec)
#define RNG_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between range finder measurements (uSec)
#define BARO_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between pressure altitude measurements (uSec)
#define EV_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between external vision system measurements (uSec)
#define GNSS_MAX_INTERVAL (uint64_t)5e5 ///< Maximum allowable time interval between GNSS measurements (uSec)
#define GNSS_YAW_MAX_INTERVAL (uint64_t)15e5 ///< Maximum allowable time interval between GNSS yaw measurements (uSec)
#define RNG_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between range finder measurements (uSec)
// bad accelerometer detection and mitigation
#define BADACC_PROBATION (uint64_t)10e6 ///< Period of time that accel data declared bad must continuously pass checks to be declared good again (uSec)