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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/ev_control.cpp
+1 -1
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@@ -45,7 +45,7 @@ void Ekf::controlExternalVisionFusion()
// Check for new external vision data
extVisionSample ev_sample;
if (_ext_vision_buffer && _ext_vision_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &ev_sample)) {
if (_ext_vision_buffer && _ext_vision_buffer->pop_first_older_than(_time_delayed_us, &ev_sample)) {
bool ev_reset = (ev_sample.reset_counter != _ev_sample_prev.reset_counter);