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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/ekf.cpp
+4 -4
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@@ -285,16 +285,16 @@ void Ekf::predictState()
float input = 0.5f * (_imu_sample_delayed.delta_vel_dt + _imu_sample_delayed.delta_ang_dt);
// filter and limit input between -50% and +100% of nominal value
input = math::constrain(input, 0.5f * FILTER_UPDATE_PERIOD_S, 2.0f * FILTER_UPDATE_PERIOD_S);
const float filter_update_s = 1e-6f * _params.filter_update_interval_us;
input = math::constrain(input, 0.5f * filter_update_s, 2.f * filter_update_s);
_dt_ekf_avg = 0.99f * _dt_ekf_avg + 0.01f * input;
// some calculations elsewhere in code require a raw angular rate vector so calculate here to avoid duplication
// protect angainst possible small timesteps resulting from timing slip on previous frame that can drive spikes into the rate
// protect against possible small timesteps resulting from timing slip on previous frame that can drive spikes into the rate
// due to insufficient averaging
if (_imu_sample_delayed.delta_ang_dt > 0.25f * FILTER_UPDATE_PERIOD_S) {
if (_imu_sample_delayed.delta_ang_dt > 0.25f * _dt_ekf_avg) {
_ang_rate_delayed_raw = _imu_sample_delayed.delta_ang / _imu_sample_delayed.delta_ang_dt;
}
}
/*