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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/fake_pos_control.cpp
+4 -4
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@@ -99,8 +99,8 @@ void Ekf::resetFakePosFusion()
resetHorizontalPositionToLastKnown();
resetHorizontalVelocityToZero();
_aid_src_fake_pos.time_last_fuse[0] = _time_last_imu;
_aid_src_fake_pos.time_last_fuse[1] = _time_last_imu;
_aid_src_fake_pos.time_last_fuse[0] = _imu_sample_delayed.time_us;
_aid_src_fake_pos.time_last_fuse[1] = _imu_sample_delayed.time_us;
}
void Ekf::stopFakePosFusion()
@@ -151,10 +151,10 @@ void Ekf::fuseFakePosition()
if (fake_pos.fusion_enabled[i] && !fake_pos.innovation_rejected[i]) {
if (fuseVelPosHeight(fake_pos.innovation[i], fake_pos.innovation_variance[i], 3 + i)) {
fake_pos.fused[i] = true;
fake_pos.time_last_fuse[i] = _time_last_imu;
fake_pos.time_last_fuse[i] = _imu_sample_delayed.time_us;
}
}
}
fake_pos.timestamp_sample = _time_last_imu;
fake_pos.timestamp_sample = _imu_sample_delayed.time_us;
}