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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/optical_flow_control.cpp
+2 -2
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@@ -179,7 +179,7 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
} else {
_information_events.flags.reset_pos_to_last_known = true;
ECL_INFO("reset position to last known position");
ECL_INFO("reset position to last known (%.3f, %.3f)", (double)_last_known_pos(0), (double)_last_known_pos(1));
resetHorizontalPositionTo(_last_known_pos.xy(), 0.f);
}
}
@@ -212,7 +212,7 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
resetHorizontalVelocityTo(_flow_vel_ne, calcOptFlowMeasVar(_flow_sample_delayed));
// reset position, estimate is relative to initial position in this mode, so we start with zero error
ECL_INFO("reset position to last known");
ECL_INFO("reset position to last known (%.3f, %.3f)", (double)_last_known_pos(0), (double)_last_known_pos(1));
_information_events.flags.reset_pos_to_last_known = true;
resetHorizontalPositionTo(_last_known_pos.xy(), 0.f);