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ekf2: include 0 timestamp checks in helpers (isTimedOut(), isRecent(), etc)

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- EKF isTimedOut(), isRecent(), and isNewestSampleRecent() need to handle the case where the timestamp has never been set
 - reset() more thoroughly reset fields (mainly impacts unit tests)
This commit is contained in:
Daniel Agar
2023-02-03 10:00:51 -05:00
committed by GitHub
parent 264a99fb77
commit 66ad7fd06c
11 changed files with 834 additions and 767 deletions
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src/modules/ekf2/EKF/ekf.h
+3 -3
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@@ -973,17 +973,17 @@ private:
bool isTimedOut(uint64_t last_sensor_timestamp, uint64_t timeout_period) const
{
return last_sensor_timestamp + timeout_period < _time_delayed_us;
return (last_sensor_timestamp == 0) || (last_sensor_timestamp + timeout_period < _time_delayed_us);
}
bool isRecent(uint64_t sensor_timestamp, uint64_t acceptance_interval) const
{
return sensor_timestamp + acceptance_interval > _time_delayed_us;
return (sensor_timestamp != 0) && (sensor_timestamp + acceptance_interval > _time_delayed_us);
}
bool isNewestSampleRecent(uint64_t sensor_timestamp, uint64_t acceptance_interval) const
{
return sensor_timestamp + acceptance_interval > _time_latest_us;
return (sensor_timestamp != 0) && (sensor_timestamp + acceptance_interval > _time_latest_us);
}
void startAirspeedFusion();