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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/EKF2.hpp
-2
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@@ -315,8 +315,6 @@ private:
parameters *_params; ///< pointer to ekf parameter struct (located in _ekf class instance)
DEFINE_PARAMETERS(
(ParamExtInt<px4::params::EKF2_MIN_OBS_DT>)
_param_ekf2_min_obs_dt, ///< Maximum time delay of any sensor used to increase buffer length to handle large timing jitter (mSec)
(ParamExtFloat<px4::params::EKF2_MAG_DELAY>)
_param_ekf2_mag_delay, ///< magnetometer measurement delay relative to the IMU (mSec)
(ParamExtFloat<px4::params::EKF2_BARO_DELAY>)