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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/gps_control.cpp
+3 -2
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@@ -158,13 +158,14 @@ void Ekf::controlGpsFusion()
}
}
} else if (_control_status.flags.gps && (_imu_sample_delayed.time_us - _gps_sample_delayed.time_us > (uint64_t)10e6)) {
} else if (_control_status.flags.gps && !isNewestSampleRecent(_time_last_gps_buffer_push, (uint64_t)10e6)) {
stopGpsFusion();
_warning_events.flags.gps_data_stopped = true;
ECL_WARN("GPS data stopped");
} else if (_control_status.flags.gps && (_imu_sample_delayed.time_us - _gps_sample_delayed.time_us > (uint64_t)1e6)
} else if (_control_status.flags.gps && !isNewestSampleRecent(_time_last_gps_buffer_push, (uint64_t)1e6)
&& isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) {
// Handle the case where we are fusing another position source along GPS,
// stop waiting for GPS after 1 s of lost signal
stopGpsFusion();