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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/zero_velocity_update.cpp
+1 -1
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@@ -64,7 +64,7 @@ void Ekf::controlZeroVelocityUpdate()
fuseVelPosHeight(innovation(1), innov_var(1), 1);
fuseVelPosHeight(innovation(2), innov_var(2), 2);
_time_last_zero_velocity_fuse = _imu_sample_delayed.time_us;
_time_last_zero_velocity_fuse = _time_delayed_us;
}
}
}