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EKF: Reduce EKF prediction delta time jitter

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Make the target EKF rate an integer multiple of the IMU rate. This slightly increases the average prediction time step for the EKF from just over 10msec to 12msec, but the variation reduces significantly which makes filter tuning more deterministic.
Improve the algorithm used to adjust the collection time criteria to reduce jitter in the correction.
This commit is contained in:
Paul Riseborough
2017-03-10 10:14:06 +01:00
committed by Lorenz Meier
parent 324fe3b0c7
commit 5fb24c3032
3 changed files with 8 additions and 6 deletions
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EKF/estimator_interface.h
+1 -1
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@@ -297,7 +297,7 @@ protected:
This can be adjusted to a value that is FILTER_UPDATE_PERIOD_MS longer than the maximum observation time delay.
*/
uint8_t _imu_buffer_length;
static const unsigned FILTER_UPDATE_PERIOD_MS = 10; // ekf prediction period in milliseconds
static const unsigned FILTER_UPDATE_PERIOD_MS = 12; // ekf prediction period in milliseconds - this should ideally be an integer multiple of the IMU time delta
unsigned _min_obs_interval_us; // minimum time interval between observations that will guarantee data is not lost (usec)