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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/range_height_control.cpp
+2 -2
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@@ -101,7 +101,7 @@ void Ekf::controlRangeHeightFusion()
// reset vertical velocity
resetVerticalVelocityToZero();
aid_src.time_last_fuse = _imu_sample_delayed.time_us;
aid_src.time_last_fuse = _time_delayed_us;
} else if (is_fusion_failing) {
// Some other height source is still working
@@ -139,7 +139,7 @@ void Ekf::controlRangeHeightFusion()
bias_est.setBias(_state.pos(2) + measurement);
}
aid_src.time_last_fuse = _imu_sample_delayed.time_us;
aid_src.time_last_fuse = _time_delayed_us;
bias_est.setFusionActive();
_control_status.flags.rng_hgt = true;
}