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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/EKF2.hpp
+3 -3
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@@ -153,7 +153,7 @@ private:
void PublishInnovationTestRatios(const hrt_abstime &timestamp);
void PublishInnovationVariances(const hrt_abstime &timestamp);
void PublishLocalPosition(const hrt_abstime &timestamp);
void PublishOdometry(const hrt_abstime &timestamp);
void PublishOdometry(const hrt_abstime &timestamp, const imuSample &imu_sample);
void PublishOdometryAligned(const hrt_abstime &timestamp, const vehicle_odometry_s &ev_odom);
void PublishOpticalFlowVel(const hrt_abstime &timestamp);
void PublishSensorBias(const hrt_abstime &timestamp);
@@ -576,9 +576,9 @@ private:
_param_ekf2_fuse_beta, ///< Controls synthetic sideslip fusion, 0 disables, 1 enables
// output predictor filter time constants
(ParamExtFloat<px4::params::EKF2_TAU_VEL>)
(ParamFloat<px4::params::EKF2_TAU_VEL>)
_param_ekf2_tau_vel, ///< time constant used by the output velocity complementary filter (sec)
(ParamExtFloat<px4::params::EKF2_TAU_POS>)
(ParamFloat<px4::params::EKF2_TAU_POS>)
_param_ekf2_tau_pos, ///< time constant used by the output position complementary filter (sec)
// IMU switch on bias parameters