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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/mag_fusion.cpp
+3 -3
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@@ -401,7 +401,7 @@ bool Ekf::fuseMag(const Vector3f &mag, estimator_aid_source_3d_s &aid_src_mag, b
if (is_fused) {
aid_src_mag.fused[index] = true;
aid_src_mag.time_last_fuse[index] = _time_last_imu;
aid_src_mag.time_last_fuse[index] = _imu_sample_delayed.time_us;
} else {
aid_src_mag.fused[index] = false;
@@ -672,8 +672,8 @@ bool Ekf::fuseYaw(const float innovation, const float variance, estimator_aid_so
// apply the state corrections
fuse(Kfusion, aid_src_status.innovation);
_time_last_heading_fuse = _time_last_imu;
aid_src_status.time_last_fuse = _time_last_imu;
_time_last_heading_fuse = _imu_sample_delayed.time_us;
aid_src_status.time_last_fuse = _imu_sample_delayed.time_us;
aid_src_status.fused = true;
return true;