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ekf2: update flags (in_air, at_rest, etc) on delayed time horizon (#20576)

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- in a lot of cases this won't really matter, although you can see it in logs (especially with things like vehicle_at_rest), but it's something we might as well do properly

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar
2022-11-14 11:35:40 -05:00
committed by GitHub
co-authored by Mathieu Bresciani
parent b0e1cc72f7
commit 639d1ddca2
6 changed files with 117 additions and 50 deletions
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src/modules/ekf2/EKF/control.cpp
+16
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@@ -48,6 +48,22 @@ void Ekf::controlFusionModes()
// Store the status to enable change detection
_control_status_prev.value = _control_status.value;
if (_system_flag_buffer) {
systemFlagUpdate system_flags_delayed;
if (_system_flag_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &system_flags_delayed)) {
set_vehicle_at_rest(system_flags_delayed.at_rest);
set_in_air_status(system_flags_delayed.in_air);
set_is_fixed_wing(system_flags_delayed.is_fixed_wing);
if (system_flags_delayed.gnd_effect) {
set_gnd_effect();
}
}
}
// monitor the tilt alignment
if (!_control_status.flags.tilt_align) {
// whilst we are aligning the tilt, monitor the variances