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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/fake_height_control.cpp
+2 -2
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@@ -51,7 +51,7 @@ void Ekf::controlFakeHgtFusion()
const float obs_var = sq(_params.pos_noaid_noise);
const float innov_gate = 3.f;
updateVerticalPositionAidSrcStatus(_imu_sample_delayed.time_us, _last_known_pos(2), obs_var, innov_gate, aid_src);
updateVerticalPositionAidSrcStatus(_time_delayed_us, _last_known_pos(2), obs_var, innov_gate, aid_src);
const bool continuing_conditions_passing = !isVerticalAidingActive();
@@ -98,7 +98,7 @@ void Ekf::resetFakeHgtFusion()
resetVerticalVelocityToZero();
resetHeightToLastKnown();
_aid_src_fake_hgt.time_last_fuse = _imu_sample_delayed.time_us;
_aid_src_fake_hgt.time_last_fuse = _time_delayed_us;
}
void Ekf::resetHeightToLastKnown()