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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_vel_control.cpp
+3 -3
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@@ -149,7 +149,7 @@ void Ekf::controlEvVelFusion(const extVisionSample &ev_sample, const bool common
ECL_INFO("reset to %s", AID_SRC_NAME);
_information_events.flags.reset_vel_to_vision = true;
resetVelocityTo(measurement, measurement_var);
aid_src.time_last_fuse = _imu_sample_delayed.time_us;
aid_src.time_last_fuse = _time_delayed_us;
} else {
// EV has reset, but quality isn't sufficient
@@ -174,7 +174,7 @@ void Ekf::controlEvVelFusion(const extVisionSample &ev_sample, const bool common
_information_events.flags.reset_vel_to_vision = true;
ECL_WARN("%s fusion failing, resetting", AID_SRC_NAME);
resetVelocityTo(measurement, measurement_var);
aid_src.time_last_fuse = _imu_sample_delayed.time_us;
aid_src.time_last_fuse = _time_delayed_us;
if (_control_status.flags.in_air) {
_nb_ev_vel_reset_available--;
@@ -213,7 +213,7 @@ void Ekf::controlEvVelFusion(const extVisionSample &ev_sample, const bool common
ECL_INFO("starting %s fusion", AID_SRC_NAME);
}
aid_src.time_last_fuse = _imu_sample_delayed.time_us;
aid_src.time_last_fuse = _time_delayed_us;
_nb_ev_vel_reset_available = 5;
_information_events.flags.starting_vision_vel_fusion = true;