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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/estimator_interface.h
+7 -3
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@@ -101,6 +101,8 @@ public:
void setAuxVelData(const auxVelSample &auxvel_sample);
void setSystemFlagData(const systemFlagUpdate &system_flags);
// return a address to the parameters struct
// in order to give access to the application
parameters *getParamHandle() { return &_params; }
@@ -355,9 +357,10 @@ protected:
uint64_t _time_last_in_air{0}; ///< last time we were in air (uSec)
// data buffer instances
RingBuffer<imuSample> _imu_buffer{12}; // buffer length 12 with default parameters
RingBuffer<outputSample> _output_buffer{12};
RingBuffer<outputVert> _output_vert_buffer{12};
static constexpr uint8_t kBufferLengthDefault = 12;
RingBuffer<imuSample> _imu_buffer{kBufferLengthDefault};
RingBuffer<outputSample> _output_buffer{kBufferLengthDefault};
RingBuffer<outputVert> _output_vert_buffer{kBufferLengthDefault};
RingBuffer<gpsSample> *_gps_buffer{nullptr};
RingBuffer<magSample> *_mag_buffer{nullptr};
@@ -368,6 +371,7 @@ protected:
RingBuffer<extVisionSample> *_ext_vision_buffer{nullptr};
RingBuffer<dragSample> *_drag_buffer{nullptr};
RingBuffer<auxVelSample> *_auxvel_buffer{nullptr};
RingBuffer<systemFlagUpdate> *_system_flag_buffer{nullptr};
uint64_t _time_last_gps_buffer_push{0};
uint64_t _time_last_gps_yaw_buffer_push{0};