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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/gnss_height_control.cpp
+2 -2
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@@ -94,7 +94,7 @@ void Ekf::startGpsHgtFusion()
_gps_hgt_b_est.setBias(_state.pos(2) + (_gps_sample_delayed.hgt - getEkfGlobalOriginAltitude()));
// Reset the timeout value here because the fusion isn't done at the same place and would immediately trigger a timeout
_aid_src_gnss_pos.time_last_fuse[2] = _time_last_imu;
_aid_src_gnss_pos.time_last_fuse[2] = _imu_sample_delayed.time_us;
}
_control_status.flags.gps_hgt = true;
@@ -117,7 +117,7 @@ void Ekf::resetHeightToGps()
_rng_hgt_b_est.setBias(_rng_hgt_b_est.getBias() + _state_reset_status.posD_change);
_ev_hgt_b_est.setBias(_ev_hgt_b_est.getBias() - _state_reset_status.posD_change);
_aid_src_gnss_pos.time_last_fuse[2] = _time_last_imu;
_aid_src_gnss_pos.time_last_fuse[2] = _imu_sample_delayed.time_us;
}
void Ekf::stopGpsHgtFusion()