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ekf2: make filter update period configurable

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- introduces new parameter EKF2_PREDICT_US to configure the filter
update period in microseconds
 - actual filter update period will be an integer multiple of IMU
This commit is contained in:
Daniel Agar
2022-01-26 10:57:09 -05:00
parent 3f25349eb9
commit ae3070bbf1
20 changed files with 856 additions and 821 deletions
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src/modules/ekf2/EKF/common.h
+7 -4
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@@ -95,10 +95,10 @@ struct outputVert {
struct imuSample {
uint64_t time_us{0}; ///< timestamp of the measurement (uSec)
Vector3f delta_ang; ///< delta angle in body frame (integrated gyro measurements) (rad)
Vector3f delta_vel; ///< delta velocity in body frame (integrated accelerometer measurements) (m/sec)
float delta_ang_dt; ///< delta angle integration period (sec)
float delta_vel_dt; ///< delta velocity integration period (sec)
Vector3f delta_ang{}; ///< delta angle in body frame (integrated gyro measurements) (rad)
Vector3f delta_vel{}; ///< delta velocity in body frame (integrated accelerometer measurements) (m/sec)
float delta_ang_dt{0.f}; ///< delta angle integration period (sec)
float delta_vel_dt{0.f}; ///< delta velocity integration period (sec)
bool delta_vel_clipping[3] {}; ///< true (per axis) if this sample contained any accelerometer clipping
};
@@ -214,6 +214,9 @@ enum TerrainFusionMask : int32_t {
#define GNDEFFECT_TIMEOUT 10E6 ///< Maximum period of time that ground effect protection will be active after it was last turned on (uSec)
struct parameters {
int32_t filter_update_interval_us{10000}; ///< filter update interval in microseconds
// measurement source control
int32_t fusion_mode{MASK_USE_GPS}; ///< bitmasked integer that selects which aiding sources will be used
int32_t vdist_sensor_type{VDIST_SENSOR_BARO}; ///< selects the primary source for height data