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

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- 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
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src/modules/ekf2/EKF/ekf.cpp
+6 -6
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@@ -225,12 +225,12 @@ bool Ekf::initialiseFilter()
initHagl();
// reset the essential fusion timeout counters
_time_last_hgt_fuse = _time_last_imu;
_time_last_hor_pos_fuse = _time_last_imu;
_time_last_hor_vel_fuse = _time_last_imu;
_time_last_hagl_fuse = _time_last_imu;
_time_last_flow_terrain_fuse = _time_last_imu;
_time_last_of_fuse = _time_last_imu;
_time_last_hgt_fuse = _imu_sample_delayed.time_us;
_time_last_hor_pos_fuse = _imu_sample_delayed.time_us;
_time_last_hor_vel_fuse = _imu_sample_delayed.time_us;
_time_last_hagl_fuse = _imu_sample_delayed.time_us;
_time_last_flow_terrain_fuse = _imu_sample_delayed.time_us;
_time_last_of_fuse = _imu_sample_delayed.time_us;
// reset the output predictor state history to match the EKF initial values
alignOutputFilter();