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sensor_simulator: update EKF at IMU rate

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This is how it is also done in ekf2_main. Otherwise, this leads to
multiple integration of the same IMU data due to asynchronous sensor
updates triggering a prediction step between IMU updates.

Fix unit tests that broke because of this fix
This commit is contained in:
bresch
2020-06-03 11:09:18 +02:00
committed by Mathieu Bresciani
parent 59183f70ba
commit 6126c190b2
8 changed files with 60 additions and 34 deletions
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test/sensor_simulator/imu.cpp
+3 -2
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@@ -15,11 +15,12 @@ Imu::~Imu()
void Imu::send(uint64_t time)
{
const float dt = float((time - _time_last_data_sent) * 1.e-6f);
imuSample imu_sample{};
imu_sample.time_us = time;
imu_sample.delta_ang_dt = (time - _time_last_data_sent) * 1.e-6f;
imu_sample.delta_ang_dt = dt;
imu_sample.delta_ang = _gyro_data * imu_sample.delta_ang_dt;
imu_sample.delta_vel_dt = (time - _time_last_data_sent) * 1.e-6f;
imu_sample.delta_vel_dt = dt;
imu_sample.delta_vel = _accel_data * imu_sample.delta_vel_dt;
_ekf->setIMUData(imu_sample);