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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/EKF2.hpp
+1
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@@ -315,6 +315,7 @@ private:
parameters *_params; ///< pointer to ekf parameter struct (located in _ekf class instance)
DEFINE_PARAMETERS(
(ParamExtInt<px4::params::EKF2_PREDICT_US>) _param_ekf2_predict_us,
(ParamExtFloat<px4::params::EKF2_MAG_DELAY>)
_param_ekf2_mag_delay, ///< magnetometer measurement delay relative to the IMU (mSec)
(ParamExtFloat<px4::params::EKF2_BARO_DELAY>)