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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/mag_control.cpp
+2 -2
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@@ -155,7 +155,7 @@ void Ekf::runOnGroundYawReset()
if (_mag_inhibit_yaw_reset_req) {
_mag_inhibit_yaw_reset_req = false;
// Zero the yaw bias covariance and set the variance to the initial alignment uncertainty
P.uncorrelateCovarianceSetVariance<1>(12, sq(_params.switch_on_gyro_bias * FILTER_UPDATE_PERIOD_S));
P.uncorrelateCovarianceSetVariance<1>(12, sq(_params.switch_on_gyro_bias * _dt_ekf_avg));
}
}
}
@@ -188,7 +188,7 @@ void Ekf::runInAirYawReset()
if (_mag_inhibit_yaw_reset_req) {
_mag_inhibit_yaw_reset_req = false;
// Zero the yaw bias covariance and set the variance to the initial alignment uncertainty
P.uncorrelateCovarianceSetVariance<1>(12, sq(_params.switch_on_gyro_bias * FILTER_UPDATE_PERIOD_S));
P.uncorrelateCovarianceSetVariance<1>(12, sq(_params.switch_on_gyro_bias * _dt_ekf_avg));
}
}