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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_yaw_fusion.cpp
+3 -3
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@@ -196,8 +196,8 @@ void Ekf::fuseGpsYaw()
_aid_src_gnss_yaw.fused = is_fused;
if (is_fused) {
_time_last_heading_fuse = _time_last_imu;
_aid_src_gnss_yaw.time_last_fuse = _time_last_imu;
_time_last_heading_fuse = _imu_sample_delayed.time_us;
_aid_src_gnss_yaw.time_last_fuse = _imu_sample_delayed.time_us;
}
}
@@ -218,7 +218,7 @@ bool Ekf::resetYawToGps()
const float yaw_variance = sq(fmaxf(_params.gps_heading_noise, 1.e-2f));
resetQuatStateYaw(measured_yaw, yaw_variance, true);
_aid_src_gnss_yaw.time_last_fuse = _time_last_imu;
_aid_src_gnss_yaw.time_last_fuse = _imu_sample_delayed.time_us;
_gnss_yaw_signed_test_ratio_lpf.reset(0.f);
return true;