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

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Paul Riseborough
2017-06-12 09:33:34 +10:00
parent a17879ab91
commit 16c7041f4a
2 changed files with 4 additions and 2 deletions
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EKF/common.h
+1
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@@ -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. 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 // 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 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 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) float gps_delay_ms{110.0f}; // GPS measurement delay relative to the IMU (msec)
EKF/estimator_interface.cpp
+3 -2
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@@ -350,13 +350,14 @@ void EstimatorInterface::setExtVisionData(uint64_t time_usec, ext_vision_message
bool EstimatorInterface::initialise_interface(uint64_t timestamp) 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, uint16_t max_time_delay_ms = math::max(_params.mag_delay_ms,
math::max(_params.range_delay_ms, math::max(_params.range_delay_ms,
math::max(_params.gps_delay_ms, math::max(_params.gps_delay_ms,
math::max(_params.flow_delay_ms, math::max(_params.flow_delay_ms,
math::max(_params.ev_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 // 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; _imu_buffer_length = (max_time_delay_ms / FILTER_UPDATE_PERIOD_MS) + 1;