fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 23:53:34 +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/ev_height_control.cpp
+1 -1
View File
@@ -47,7 +47,7 @@ void Ekf::controlEvHeightFusion()
_ev_hgt_b_est.predict(_dt_ekf_avg);
const bool ev_intermittent = !isRecent(_time_last_ext_vision, 2 * EV_MAX_INTERVAL);
const bool ev_intermittent = !isNewestSampleRecent(_time_last_ext_vision_buffer_push, 2 * EV_MAX_INTERVAL);
if (_ev_data_ready) {
const bool continuing_conditions_passing = !ev_intermittent;