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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
2022-01-18 16:37:16 -05:00
parent 3f25349eb9
commit ae3070bbf1
20 changed files with 856 additions and 821 deletions
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src/modules/ekf2/EKF/control.cpp
+1 -1
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@@ -800,7 +800,7 @@ void Ekf::checkVerticalAccelerationHealth()
}
// Check for more than 50% clipping affected IMU samples within the past 1 second
const uint16_t clip_count_limit = 1000 / FILTER_UPDATE_PERIOD_MS;
const uint16_t clip_count_limit = 1.f / _dt_ekf_avg;
const bool is_clipping = _imu_sample_delayed.delta_vel_clipping[0] ||
_imu_sample_delayed.delta_vel_clipping[1] ||
_imu_sample_delayed.delta_vel_clipping[2];