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ekf2: improve ring buffer sizing and dynamically allocate

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This commit is contained in:
Daniel Agar
2022-01-19 09:04:53 -05:00
parent 36605bfff6
commit 92a5bbe97f
13 changed files with 356 additions and 247 deletions
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src/modules/ekf2/EKF/common.h
+2 -1
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@@ -219,7 +219,8 @@ struct parameters {
int32_t vdist_sensor_type{VDIST_SENSOR_BARO}; ///< selects the primary source for height data
int32_t terrain_fusion_mode{TerrainFusionMask::TerrainFuseRangeFinder |
TerrainFusionMask::TerrainFuseOpticalFlow}; ///< aiding source(s) selection bitmask for the terrain estimator
int32_t sensor_interval_min_ms{20}; ///< minimum time of arrival difference between non IMU sensor updates. Sets the size of the observation buffers. (mSec)
int32_t sensor_interval_max_ms{10}; ///< maximum time of arrival difference between non IMU sensor updates. Sets the size of the observation buffers. (mSec)
// measurement time delays
float mag_delay_ms{0.0f}; ///< magnetometer measurement delay relative to the IMU (mSec)