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ekf2: refactor output predictor to class

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- refactor all EKF backend output predictor pieces into new OutputPredictor class
 - output states are now calculated immediately with new high rate IMU rather than after EKF update
 - IMU delayed sample is passed as around as control data to avoid storing an extra copy and make the requirement clear
This commit is contained in:
Daniel Agar
2023-01-18 10:59:34 -05:00
committed by GitHub
parent c054ca20cc
commit 95300d5637
39 changed files with 855 additions and 618 deletions
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src/modules/ekf2/EKF/airspeed_fusion.cpp
+2 -2
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@@ -127,7 +127,7 @@ void Ekf::fuseAirspeed(estimator_aid_source1d_s &airspeed)
_fault_status.flags.bad_airspeed = !is_fused;
if (is_fused) {
airspeed.time_last_fuse = _imu_sample_delayed.time_us;
airspeed.time_last_fuse = _time_delayed_us;
}
}
@@ -159,7 +159,7 @@ void Ekf::resetWindUsingAirspeed()
resetWindCovarianceUsingAirspeed();
_aid_src_airspeed.time_last_fuse = _imu_sample_delayed.time_us;
_aid_src_airspeed.time_last_fuse = _time_delayed_us;
}
void Ekf::resetWindToZero()