fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-02 03:04:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF: Add a parameter to enable setting of a minimum buffer length to handle large sensor timing jitter

Browse Source
This commit is contained in:
Paul Riseborough 2017-05-26 21:29:11 +10:00
parent a17879ab91
commit 16c7041f4a
2 changed files with 4 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
EKF/common.h
View File

@ -186,6 +186,7 @@ struct parameters {
int32_t sensor_interval_min_ms{20}; // minimum time of arrival difference between non IMU sensor updates. Sets the size of the observation buffers.
// measurement time delays
float min_delay_ms{0.0f}; // used to a set a minimum buffer length independent of specified sensor delays
float mag_delay_ms{0.0f}; // magnetometer measurement delay relative to the IMU (msec)
float baro_delay_ms{0.0f}; // barometer height measurement delay relative to the IMU (msec)
float gps_delay_ms{110.0f}; // GPS measurement delay relative to the IMU (msec)

5
EKF/estimator_interface.cpp
View File

@ -350,13 +350,14 @@ void EstimatorInterface::setExtVisionData(uint64_t time_usec, ext_vision_message
bool EstimatorInterface::initialise_interface(uint64_t timestamp)
{
// find the maximum time delay required to compensate for
// find the maximum time delay the buffers are required to handle
uint16_t max_time_delay_ms = math::max(_params.mag_delay_ms,
math::max(_params.range_delay_ms,
math::max(_params.gps_delay_ms,
math::max(_params.flow_delay_ms,
math::max(_params.ev_delay_ms,
math::max(_params.airspeed_delay_ms, _params.baro_delay_ms))))));
math::max(_params.min_delay_ms,
math::max(_params.airspeed_delay_ms, _params.baro_delay_ms)))))));
// calculate the IMU buffer length required to accomodate the maximum delay with some allowance for jitter
_imu_buffer_length = (max_time_delay_ms / FILTER_UPDATE_PERIOD_MS) + 1;