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EKF: down-sample drag specific force data

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Paul Riseborough
2017-04-16 13:07:12 +02:00
committed by Lorenz Meier
parent 9f48c0505b
commit 3758c5a09d
5 changed files with 60 additions and 10 deletions
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EKF/estimator_interface.h
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@@ -319,6 +319,10 @@ protected:
airspeedSample _airspeed_sample_delayed;
flowSample _flow_sample_delayed;
extVisionSample _ev_sample_delayed;
dragSample _drag_sample_delayed;
dragSample _drag_down_sampled; // down sampled drag specific force data (filter prediction rate -> observation rate)
uint8_t _drag_sample_count; // number of drag specific force samples assumulated at the filter prediction rate
float _drag_sample_time_dt; // time integral across all samples used to form _drag_down_sampled (sec)
outputSample _output_sample_delayed; // filter output on the delayed time horizon
outputSample _output_new; // filter output on the non-delayed time horizon
@@ -368,6 +372,7 @@ protected:
RingBuffer<flowSample> _flow_buffer;
RingBuffer<extVisionSample> _ext_vision_buffer;
RingBuffer<outputSample> _output_buffer;
RingBuffer<dragSample> _drag_buffer;
uint64_t _time_last_imu; // timestamp of last imu sample in microseconds
uint64_t _time_last_gps; // timestamp of last gps measurement in microseconds