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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/control.cpp
+2 -2
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@@ -86,7 +86,7 @@ void Ekf::controlFusionModes()
}
if (_gps_buffer) {
_gps_intermittent = !isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GPS_MAX_INTERVAL);
_gps_intermittent = !isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GNSS_MAX_INTERVAL);
// check for arrival of new sensor data at the fusion time horizon
_time_prev_gps_us = _gps_sample_delayed.time_us;
@@ -418,7 +418,7 @@ void Ekf::controlGpsYawFusion(const gpsSample &gps_sample, bool gps_checks_passi
const bool continuing_conditions_passing = !gps_checks_failing;
const bool is_gps_yaw_data_intermittent = !isNewestSampleRecent(_time_last_gps_yaw_buffer_push, 2 * GPS_MAX_INTERVAL);
const bool is_gps_yaw_data_intermittent = !isNewestSampleRecent(_time_last_gps_yaw_buffer_push, 2 * GNSS_YAW_MAX_INTERVAL);
const bool starting_conditions_passing = continuing_conditions_passing
&& _control_status.flags.tilt_align