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ekf2: set horizon using specific parameter

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Some sensors can have their delay included in the timestamp. In this
case, the buffer cannot be sized using the _DELAY parameter.
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bresch
2024-04-17 09:16:16 -04:00
committed by Daniel Agar
parent 6796945d0b
commit a8a67fbf8f
5 changed files with 93 additions and 99 deletions
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src/modules/ekf2/EKF/common.h
+1 -1
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@@ -265,7 +265,7 @@ struct parameters {
int32_t height_sensor_ref{static_cast<int32_t>(HeightSensor::BARO)};
int32_t position_sensor_ref{static_cast<int32_t>(PositionSensor::GNSS)};
int32_t sensor_interval_max_ms{10}; ///< maximum time of arrival difference between non IMU sensor updates. Sets the size of the observation buffers. (mSec)
float delay_max_ms{110.f}; ///< maximum time delay of all the aiding sensors. Sets the size of the observation buffers. (mSec)
// input noise
float gyro_noise{1.5e-2f}; ///< IMU angular rate noise used for covariance prediction (rad/sec)