fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 12:43:33 +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/test/sensor_simulator/ekf_logger.cpp
+1 -1
View File
@@ -48,7 +48,7 @@ void EkfLogger::writeStateToFile()
void EkfLogger::writeState()
{
if (_state_logging_enabled) {
uint64_t time = _ekf->get_imu_sample_delayed().time_us;
uint64_t time = _ekf->time_delayed_us();
_file << time;
if (_state_logging_enabled) {