fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 05:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: handle all time on delayed horizon (except for newest sample checks)

Browse Source 
- a growing number of samples come into the backend with the time
already delayed (sensor's interrupt setting timestamp sample)
 - if the incoming timestamp is already delayed then the new data checks
(relative to latest IMU) can be slightly wrong
 - handle almost all timestamps and checks on delayed time horizon,
except for explicit checks of new samples
 - isRecent() and isTimedOut() helpers use delayed time
 - add new isNewestSampleRecent() used for checking the incoming
timestamp of the incoming (adjusted) data
This commit is contained in:
Daniel Agar
2022-08-31 08:52:30 -04:00
parent d6a4e158cf
commit 1948c5057a
25 changed files with 193 additions and 165 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/covariance.cpp
+2 -2
View File
@@ -1006,7 +1006,7 @@ void Ekf::fixCovarianceErrors(bool force_symmetry)
// record the pass/fail
if (!bad_acc_bias) {
_fault_status.flags.bad_acc_bias = false;
_time_acc_bias_check = _time_last_imu;
_time_acc_bias_check = _imu_sample_delayed.time_us;
} else {
_fault_status.flags.bad_acc_bias = true;
@@ -1018,7 +1018,7 @@ void Ekf::fixCovarianceErrors(bool force_symmetry)
P.uncorrelateCovariance<3>(13);
_time_acc_bias_check = _time_last_imu;
_time_acc_bias_check = _imu_sample_delayed.time_us;
_fault_status.flags.bad_acc_bias = false;
_warning_events.flags.invalid_accel_bias_cov_reset = true;
ECL_WARN("invalid accel bias - covariance reset");