fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 21:23:35 +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/sideslip_fusion.cpp
+2 -2
View File
@@ -65,7 +65,7 @@ void Ekf::updateSideslip(estimator_aid_source1d_s &sideslip) const
sideslip.fusion_enabled = _control_status.flags.fuse_aspd;
sideslip.timestamp_sample = _imu_sample_delayed.time_us;
sideslip.timestamp_sample = _time_delayed_us;
const float innov_gate = fmaxf(_params.beta_innov_gate, 1.f);
setEstimatorAidStatusTestRatio(sideslip, innov_gate);
@@ -121,6 +121,6 @@ void Ekf::fuseSideslip(estimator_aid_source1d_s &sideslip)
_fault_status.flags.bad_sideslip = !is_fused;
if (is_fused) {
sideslip.time_last_fuse = _imu_sample_delayed.time_us;
sideslip.time_last_fuse = _time_delayed_us;
}
}