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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_fusion.cpp
+4 -4
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@@ -173,7 +173,7 @@ void Ekf::fuseGpsVel()
for (int i = 0; i < 2; i++) {
if (fuseVelPosHeight(gps_vel.innovation[i], gps_vel.innovation_variance[i], i)) {
gps_vel.fused[i] = true;
gps_vel.time_last_fuse[i] = _time_last_imu;
gps_vel.time_last_fuse[i] = _imu_sample_delayed.time_us;
}
}
}
@@ -184,7 +184,7 @@ void Ekf::fuseGpsVel()
if (gps_vel.fusion_enabled[2] && !gps_vel.innovation_rejected[2]) {
if (fuseVelPosHeight(gps_vel.innovation[2], gps_vel.innovation_variance[2], 2)) {
gps_vel.fused[2] = true;
gps_vel.time_last_fuse[2] = _time_last_imu;
gps_vel.time_last_fuse[2] = _imu_sample_delayed.time_us;
}
}
}
@@ -201,7 +201,7 @@ void Ekf::fuseGpsPos()
for (int i = 0; i < 2; i++) {
if (fuseVelPosHeight(gps_pos.innovation[i], gps_pos.innovation_variance[i], 3 + i)) {
gps_pos.fused[i] = true;
gps_pos.time_last_fuse[i] = _time_last_imu;
gps_pos.time_last_fuse[i] = _imu_sample_delayed.time_us;
}
}
}
@@ -212,7 +212,7 @@ void Ekf::fuseGpsPos()
if (gps_pos.fusion_enabled[2] && !gps_pos.innovation_rejected[2]) {
if (fuseVelPosHeight(gps_pos.innovation[2], gps_pos.innovation_variance[2], 5)) {
gps_pos.fused[2] = true;
gps_pos.time_last_fuse[2] = _time_last_imu;
gps_pos.time_last_fuse[2] = _imu_sample_delayed.time_us;
}
}
}