fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 19:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: refactor output predictor to class

Browse Source 
- 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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/gps_checks.cpp
+3 -3
View File
@@ -239,7 +239,7 @@ bool Ekf::gps_is_good(const gpsMessage &gps)
// assume failed first time through
if (_last_gps_fail_us == 0) {
_last_gps_fail_us = _imu_sample_delayed.time_us;
_last_gps_fail_us = _time_delayed_us;
}
// if any user selected checks have failed, record the fail time
@@ -255,10 +255,10 @@ bool Ekf::gps_is_good(const gpsMessage &gps)
(_gps_check_fail_status.flags.hspeed && (_params.gps_check_mask & MASK_GPS_HSPD)) ||
(_gps_check_fail_status.flags.vspeed && (_params.gps_check_mask & MASK_GPS_VSPD))
) {
_last_gps_fail_us = _imu_sample_delayed.time_us;
_last_gps_fail_us = _time_delayed_us;
} else {
_last_gps_pass_us = _imu_sample_delayed.time_us;
_last_gps_pass_us = _time_delayed_us;
}
// continuous period without fail of x seconds required to return a healthy status