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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/estimator_interface.h
+10 -14
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@@ -108,10 +108,10 @@ public:
void set_in_air_status(bool in_air)
{
if (!in_air) {
_time_last_on_ground_us = _time_last_imu;
_time_last_on_ground_us = _imu_sample_delayed.time_us;
} else {
_time_last_in_air = _time_last_imu;
_time_last_in_air = _imu_sample_delayed.time_us;
}
_control_status.flags.in_air = in_air;
@@ -140,7 +140,7 @@ public:
void set_gnd_effect()
{
_control_status.flags.gnd_effect = true;
_time_last_gnd_effect_on = _time_last_imu;
_time_last_gnd_effect_on = _imu_sample_delayed.time_us;
}
// set air density used by the multi-rotor specific drag force fusion
@@ -373,17 +373,13 @@ protected:
RingBuffer<dragSample> *_drag_buffer{nullptr};
RingBuffer<auxVelSample> *_auxvel_buffer{nullptr};
// timestamps of latest in buffer saved measurement in microseconds
uint64_t _time_last_imu{0};
uint64_t _time_last_gps{0};
uint64_t _time_last_mag{0}; ///< measurement time of last magnetomter sample (uSec)
uint64_t _time_last_baro{0};
uint64_t _time_last_range{0};
uint64_t _time_last_airspeed{0};
uint64_t _time_last_ext_vision{0};
uint64_t _time_last_optflow{0};
uint64_t _time_last_auxvel{0};
//last time the baro ground effect compensation was turned on externally (uSec)
uint64_t _time_last_gps_buffer_push{0};
uint64_t _time_last_gps_yaw_buffer_push{0};
uint64_t _time_last_mag_buffer_push{0};
uint64_t _time_last_baro_buffer_push{0};
uint64_t _time_last_range_buffer_push{0};
uint64_t _time_last_ext_vision_buffer_push{0};
uint64_t _time_last_gnd_effect_on{0};
fault_status_u _fault_status{};