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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_pos_control.cpp
+2 -2
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@@ -65,7 +65,7 @@ void Ekf::controlFakePosFusion()
const float innov_gate = 3.f;
updateHorizontalPositionAidSrcStatus(_imu_sample_delayed.time_us, Vector2f(_last_known_pos), obs_var, innov_gate, aid_src);
updateHorizontalPositionAidSrcStatus(_time_delayed_us, Vector2f(_last_known_pos), obs_var, innov_gate, aid_src);
const bool continuing_conditions_passing = !isHorizontalAidingActive();
@@ -118,7 +118,7 @@ void Ekf::resetFakePosFusion()
resetHorizontalPositionToLastKnown();
resetHorizontalVelocityToZero();
_aid_src_fake_pos.time_last_fuse = _imu_sample_delayed.time_us;
_aid_src_fake_pos.time_last_fuse = _time_delayed_us;
}
void Ekf::stopFakePosFusion()